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

<div>The actual motor torque curve of simultaneous motion of multiple joints.</div>

Mathematical Problems in Engineering

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Figure 7

Figure 7: A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 

Figure 7 | A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 