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Lower limb movement disorders caused by various reasons are an important public health problem currently facing the world. To solve this problem, a novel spatial 8R mechanism with a stable structure and motion performance for human hip joint rehabilitation is proposed. Since the human body mainly performs coronal and sagittal plane movements, a spatial 8R mechanism with 2-DOF was designed to assist patients in rehabilitation training considering their actual circumstances. Based on the analysisdoi:10.3390/app122312488 fatcat:v3siwns53zhabbmufkeendbt5m