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Mounis, Shawgi Y. A. and Azlan, Norsinnira Zainul and Sado, Fatai (2020) Assist-as-needed robotic rehabilitation strategy based on z-spline estimated functional ability. IEEE Access, 8. pp. 157557-157571. ISSN 2169-3536, DOI https://doi.org/10.1109/ACCESS.2020.3019450.