Dynamic Modeling and Interactive Performance of PARM: A Parallel Upper-Limb Rehabilitation Robot Using Impedance Control for Patients after Stroke

Figure 11

Trajectories, errors, and interactive force of the rectilinear movements (a) without impedance or resistance, (b) with impedance only, (c) with resistance only, and (d) with impedance and resistance simultaneously. and error are measured by mm.

(a)

(b)

(c)

(d)