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

Table 1

The physical significance of all symbols in equations.

Symbols	Physical significance
	The motor angle of EEULRebot upper arm
	The motor angle of EEULRebot forearm
	The length of EEULRebot upper arm
	The length of EEULRebot forearm
	The mass of EEULRebot upper arm
	The mass of EEULRebot forearm
	The mass of force senor at the end-effector of EEULRebot
	Kinetic energy
	Potential energy
	Mechanical energy
	Resultant external torque of motor of EEULRebot upper arm
	Resultant external torque of motor of EEULRebot forearm
	The Jacobian matrix of the EEULRebot system
	Equivalent torque of external forces
	The external force in x-axis
	The external forces in y-axis
	Motor torque of EEULRebot upper arm
	Motor torque of EEULRebot forearm