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

<div>The system response to step signal with amplitude of 0.5 in the environment mass-spring-damp system with different damping coefficients. <i>x</i>: the time of response; <i>y</i>: response values to 0.5 step signal. The continuous black solid line was the response of overdamping system, and it had no overshoot and a stable value at the end.</div>

Journal of Healthcare Engineering

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Figure 7

Figure 7: Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 

Figure 7 | Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training 