Reach Envelope of a 9-Degree-of Freedom Model of the Upper Extremity. - Jingzhou Yang 001; Karim Abdel-Malek; Kyle Nebel (Int. J. Robotics Autom., 2005)

Optimization-based trajectory planning of the human upper body. - Karim Abdel-Malek; Zan Mi; Jingzhou Yang 001; Kyle Nebel (Robotica, 2006)