TY - JOUR A1 - Schorsch, J. F. A1 - Keemink, A. Q. L. A1 - Stienen, A. H. A. A1 - van der Helm, F. C. T. A1 - Abbink, D. A. T1 - A novel self-aligning mechanism to decouple force and torques for a planar exoskeleton joint JO - Mech. Sci. J1 - MS VL - 5 IS - 2 SP - 29 EP - 35 Y1 - 2014/08/06 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/5/29/2014/ L1 - https://ms.copernicus.org/articles/5/29/2014/ms-5-29-2014.pdf DO - 10.5194/ms-5-29-2014 ER -