Quantitative Assessment of Motor Function for Patients with a Stroke by an End-Effector Upper Limb Rehabilitation Robot

Figure 1

The movement patterns of upper limb and the structure of end-effector upper limb rehabilitation robot for assessment (EEULRbot): (a) the movement patterns of upper limb, (b) the structure of EEULRbot with human model, and (c) the definition of angles of shoulder and elbow joints.

(a)

(b)

(c)