面向踝关节康复的四自由度广义球面并联机构运动学性能*
刘承磊, 张建军, 牛建业, 刘腾, 戚开诚, 郭士杰
Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation
LIU Chenglei, ZHANG Jianjun, NIU Jianye, LIU Teng, QI Kaicheng, GUO Shijie
机械工程学报
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2021, (21): 45
-54
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DOI: 10.3901/JME.2021.21.045
