A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking

<div>The shoulder joint module. (a) The schematic diagram. (b) The actual way of installing the wire ropes.</div>

Mathematical Problems in Engineering

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Figure 2

Figure 2: A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 

Figure 2 | A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 