An upper limb motion assist system with parallel mechanism is being developed. This system aims at assisting a patient with upper limb disability to move his/her arm in daily life or rehabilitation. It suspends an arm at its elbow and wrist with three strings each, and manipulates the arm by changing the length of each string. As a first step of development, the design parameters are evaluated using simulation.
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Homma et al. (2002) studied this question.
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