Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device

Table 1

The qualitative description of the motion transmission of the BULReD.

Motion pattern	Motor pulley angular displacement		End-effector direction
	Motor 1	Motor 2
1	+	·	↗
2	+	+	→
3	+	−	↑
4	−	·	↙
5	−	+	↓
6	−	−	←
7	·	+	↘
8	·	−	↖

Note: + means anticlockwise rotation, − means clockwise rotation, and · represents the motor being still.