... The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used...

...). Rehabilitation robot is normally composed of several rehabilitation joints. The static and dynamic characteristics of the rehabilitation joint are important for control of the rehabilitation robot. Analysis and modeling of the rehabilitation joint is based on experiments. Findings The static model of the PMA...