Robot for stroke patients paper copied 3 pages of equations

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A 2014 paper on a robotic system for patients who have had a stroke contains three pages of equations that are not original.

According to the retraction note, “Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system” copied the equations from a paper that other researchers presented at a conference in 2012. The papers both describe a system that delivers a boost of electricity to stroke patients’ arms to help them perform a task.

Here’s the note, from Nonlinear Dynamics:

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