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2013 IEEE International Conference on Mechatronics and Automation
This paper presents a kinematic model of an upper limb rehabilitation robot system based on Denavit-Hartenberg parameters method. The system possesses advantages of less weight, compact size, and interaction in the rehabilitation process. Furthermore it can provide a sufficient work room for the patient's upper limb. This system mainly consists of an upper limb exoskeleton rehabilitation device (ULERD), a haptic device called PHANTOM Premium, and an interactive virtual reality environment. Thedoi:10.1109/icma.2013.6618046 fatcat:zoypsowvhrhrnedxru3crbemua