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An EMG-con￾trolled exoskeleton for hand rehabilitation[C]//Proceedings of 9th International Conference on Rehabilitation Robotics. Chicago, USA, 2005. [6] AMBROSINI E, FERRANTE S, ZAJC J, et al. The com￾bined action of a passive exoskeleton and an EMG-con￾trolled neuroprosthesis for upper limb stroke rehabilitation: first results of the RETRAINER project[C]//Proceedings of 2017 International Conference on Rehabilitation Robotics. London, UK, 2017. [7] LLOYD D G, BUCHANAN T S. A model of load sharing between muscles and soft tissues at the human knee during static tasks[J]. Journal of biomechanical engineering, 1996, 118(3): 367–376. [8] MCGILL S M. A myoelectrically based dynamic three-di￾mensional model to predict loads on lumbar spine tissues during lateral bending[J]. Journal of biomechanics, 1992, 25(4): 395–414. [9] 郭伟, 杨丛为, 邓静, 等. 外骨骼机器人系统中人体下肢 关节力矩动态解算 [J]. 机械与电子, 2015(10): 71–75. GUO Wei, YANG Cong Wei, DENG Jing, et al. Dynam￾ic solution of the lower extremity joint torques in man￾machine system of lower extremity exoskeleton[J]. Ma￾chinery & electronics, 2015(10): 71–75. [10] SONG Jialei, ZHONG Yong, LUO Haoxiang, et al. Hy￾drodynamics of larval fish quick turning: a computational study[J]. Proceedings of the institution of mechanical en￾gineers, part C: journal of mechanical engineering sci￾ence, 2018, 232(14): 2515–2523. [11] ZAJAC F E. Muscle and tendon: properties, models, scal￾ing, and application to biomechanics and motor control[J]. Critical reviews in biomedical engineering, 1989, 17(4): 359–411. [12] HUXLEY A F. Muscle structure and theories of contrac￾tion[J]. Progress in biophysics and biophysical chemistry, 1957, 7: 255–318. [13] HUXLEY A F, SIMMONS R M. Proposed mechanism of force generation in striated muscle[J]. Nature, 1971, 233(5321): 533–538. [14] ZAHALAK G I. A comparison of the mechanical behavi￾or of the cat soleus muscle with a distribution-moment model[J]. Journal of biomechanical engineering, 1986, 108(2): 131–140. [15] ZAHALAK G I. The two-state cross-bridge model of muscle is an asymptotic limit of multi-state models[J]. Journal of theoretical biology, 2000, 204(1): 67–82. [16] HILL A V. The heat of shortening and the dynamic con￾stants of muscle[J]. Proceedings of the royal society B: biological sciences, 1938, 126(843): 136–195. [17] HAN Jianda, DING Qichuan, XIONG Anbin, et al. A state-space EMG model for the estimation of continuous joint movements[J]. IEEE transactions on industrial elec￾tronics, 2015, 62(7): 4267–4275. [18] BUCHANAN T S, LLOYD D G, MANAL K, et al. Neur￾omusculoskeletal modeling: estimation of muscle forces and joint moments and movements from measurements of neural command[J]. Journal of applied biomechanics, 2004, 20(4): 367–395. [19] MURRAY W M, BUCHANAN T S, DELP S L. The iso￾metric functional capacity of muscles that cross the el￾bow[J]. Journal of biomechanics, 2000, 33(8): 943–952. [20] CROUCH D L, HUANG He. Musculoskeletal model pre￾dicts multi-joint wrist and hand movement from limited [21] ·200· 智 能 系 统 学 报 第 15 卷