Kinematic Parameter Optimization of Workspace-based Generalized Spherical Parallel Robots for Ankle Joint Rehabilitation
LIU Xiuying, ZHANG Jianjun, LIU Chenglei, NIU Jianye, QI Kaicheng, GUO Shijie
China Mechanical Engineering . 2021, (16): 1921 -1929 .  DOI: 10.3969/j.issn.1004-132X.2021.16.004

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