Design and Analysis of a Hemispherical Parallel Mechanism for Forearm–Wrist Rehabilitation

Figure 8

Inverse position and statics illustration. (a) The length changes of cable 1. (b) The length changes of spring. (c) The length changes of cable 3. (d) The tension changes of cable 1. (e) The tension changes of spring. (f) The tension changes of cable 3.

(a)

(b)

(c)

(d)

(e)

(f)