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а To control the robot arm relative to the current pose, the kinematic chain with a number of additional virtual (imaginary) links [Ivlev et al.,1997, Ivlev et al., 1999] is applied, such that 274 Rehabilitation Robotics the constrained kinematic structure becomes non-redundant – this means that the number of degrees of freedom becomes equal to the working space dimension. 152 Rehabilitation Robotics Task Request First, with respect to the task request from the HMI, the sequencer selects and loads an abstract process-structure. On average, the task was performed 22% faster after the intervention, illustrating transfer of their improvement in VR to a functional task (Adamovich et al 2005). During task execution, a single transition from out a pair (or tuple respectively) is fired according to the actual return value of the respective EEOP.
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