Research Article

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

Figure 5

Robotic dynamics of the mechanism. In this diagram, and denote the motor torques; and are the friction in the prismatic joint; and denote the friction between the end-effector and platform; and denote the interactive force between patients and the robot; , , and denote the inertia of the link, end-effector, and the moment of inertia of the motor shaft, respectively; and represent the acceleration of the joints and end-effector, respectively.