Anticipatory assistance-as-needed control algorithm for a multijoint upper limb robotic orthosis in physical neurorehabilitation. - Rodrigo Pérez-Rodríguez; Carlos Rodríguez 008; Úrsula Costa; César Cáceres; Josep M. Tormos; Josep Medina; Enrique J. Gómez (Expert Syst. Appl., 2014)