Manipulability Inclusive Principle for Assistive Result Evaluation of Assistive Mechanism

Figure 5

Inclusive cases between ME-al and ME-saam. (a) Initial, (b) after rotation, (c) internally tangent, (d) externally tangent, (e) internally inclusive, (f) externally inclusive.

(a)

(b)

(c)

(d)

(e)

(f)