Forces and Couples - - Friction Forces and Air Resistance - - Local Biological Effects of Contact Forces - - Torque and Force Actuators at Revolute Joints - - Transformation Analysis - - Control of External Contact Forces - - Duality of Statics and Kinematics : Null Spaces - - Stiffness of Passive and Active Objects - - Apparent Endpoint Stiffness - -Apparent Joint Stifness - - Transformation Analysis - - Why Is It So Difficult to Determine Joint Stiffness? - - Stiffness in Motor Control Models - - Basic Mechanixs Theory -- Inertial Properties of the Entire Human Body - - Intertial Propertics of Body Parts - - Subject-Specific Inertial Characteristics - - Control of Body Inertia in Human Movement - - Basic Dynamic Equations - - Inverse Dynamics of Simple Planar Chains - -Movement in Three Dimensions - - Joint Torques and Joint Forces in Human Motion - - The Concept of Work - - Work at a Joint and Work on a Body Segment - - Energy, Work, and Power in Multilink Kinematic Chains - -Minimizing the Energy Expenditure for Motion

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