Design and Analysis of a Flexible, Elastic, and Rope-Driven Parallel Mechanism for Wrist Rehabilitation

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011a.svgz" name="8841400.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b><svg height="12.4698pt" id="M251" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 8.22996 12.4698" width="8.22996pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,3.172,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg> simulation result</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011b.svgz" name="8841400.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b><svg height="12.4698pt" id="M252" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 8.22996 12.4698" width="8.22996pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,3.172,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg> simulation result</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011c.svgz" name="8841400.fig.0011c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b><svg height="12.5794pt" id="M253" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 8.22996 12.5794" width="8.22996pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,3.172,3.132)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z"></path></g></svg> simulation result</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011d.svgz" name="8841400.fig.0011d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b><svg height="12.1436pt" id="M254" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -8.96212 12.249 12.1436" width="12.249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"></path></g></svg> simulation result</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011e.svgz" name="8841400.fig.0011e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b><svg height="12.1436pt" id="M255" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -8.96212 12.249 12.1436" width="12.249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg> simulation result</td></tr><tr class="fig-image" id="f"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8841400/figures/8841400.fig.0011f.svgz" name="8841400.fig.0011f" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(f) </b><svg height="12.2532pt" id="M256" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 12.249 12.2532" width="12.249pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z"></path></g></svg> simulation result</td></tr></table>

Applied Bionics and Biomechanics

fig11

Figure 11

Figure 11: Design and Analysis of a Flexible, Elastic, and Rope-Driven Parallel Mechanism for Wrist Rehabilitation 