Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

Figure 3

The kinematic model of EEULRebot. and refer to each motor rotation angle relative to the settled zero reference position ( while the two links are parallel to the x-axis). and mean the length of the EEULRebot upper arm and forearm. The end point position is (). , , and represent the angles between the segments and the reference lines.