Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-341-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-341-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
12 Apr 2022
Research article |  | 12 Apr 2022

A chord-angle-based approach with expandable solution space to 1-degree-of-freedom (DOF) rehabilitation mechanism synthesis

Wei Wei, Xin Shu, Peng Chen, and Xiangyun Li

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Short summary
We propose a novel mechanism synthesis approach for a 1-degree-of-freedom (DOF) rehabilitation robot, based on chord angle descriptor (CAD) and error tolerance expansion, to generate a pool of mechanism solutions from which mathematically and practically optimal solutions can be selected. A design example of a 1-DOF rehabilitation robot for upper-limb training is provided to demonstrate the efficacy of our novel approach.
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