A check digit is a form of redundancy check used for error detection, the decimal equivalent of a binary check bit. It consists of a single digit computed from the other digits in the number. The method for the 10-digit ISBN is an extension of that for SBNs, so the two systems are compatible; an SBN prefixed with a zero (the 10-digit ISBN) will give the same check digit as the SBN without the zero. The check digit is base eleven, and can be an integer between 0 and 9, or an 'X'. The system for 13-digit ISBNs is not compatible with SBNs and will, in general, give a different check digit from the corresponding 10-digit ISBN, so does not provide the same protection against transposition. This is because the 13-digit code was required to be compatible with the EAN format, and hence could not contain an 'X'.
In case of systems for the rehabilitation of the whole limb the number of DOF reaches nine (ESTEC exoskeleton[115]) or ten (IntelliArm[116]). Some systems for fingers or hand rehabilitation have an even higher number of DOF. Examples include the system proposed by Hasegawa, et al. with eleven DOF [98] and the hand exoskeleton developed at the Technical University (TU) of Berlin with twenty DOF [117]. Even at such a high number of DOF some of these devices still remain wearable (i.e. the user is able to walk within a limited area due to connections to power source and control unit, e.g. ESTEC and hand exoskeleton developed at the TU Berlin) or portable (i.e. the area within which the user may walk is not limited, e.g. the system proposed by Hasegawa).
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