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Applied Bionics and Biomechanics
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Applied Bionics and Biomechanics
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2023
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Article
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Fig 5
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Research Article
Design and Analysis of a Hemispherical Parallel Mechanism for Forearm–Wrist Rehabilitation
Figure 5
The difference between two types of the mechanism. (a) Traditional spherical joint. (b) Hemispherical shell.
(a)
(b)