Articles | Volume 13, issue 1
Mech. Sci., 13, 341–352, 2022
Mech. Sci., 13, 341–352, 2022
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 et al.

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Synthesis
Motion generation of a planar 3R serial chain based on conformal geometric algebra with applications to planar linkages
Lei Wang, Gaohong Yu, Liang Sun, Yuzhu Zhou, and Chuanyu Wu
Mech. Sci., 13, 275–290,,, 2022
Short summary
Simulation and analysis of a single actuated quadruped robot
Changtao Yan, Kan Shi, Haiqiang Zhang, and Yanan Yao
Mech. Sci., 13, 137–146,,, 2022
Short summary
Synthesis of trigonometric motion programs with lower motion characteristics
Kuan-Lun Hsu
Mech. Sci., 13, 111–121,,, 2022
Short summary
Optimal synthesis of four-bar linkages for path generation using the individual repairing method
Xinyuan Yao, Xingdong Wang, Wei Sun, Jianyi Kong, and Zhongkang Lin
Mech. Sci., 13, 79–87,,, 2022
Short summary
Type synthesis approach for the 2R1T compliant parallel mechanism with a suitable constrained branch
Yajie Zhou, Shihua Li, Jing Sun, and Li Yi
Mech. Sci., 13, 67–78,,, 2022
Short summary

Cited articles

Adamek, T. and Connor, N. E. O.: A multiscale representation method for nonrigid shapes with a single closed contour, IEEE T. Circ. Syst. Vid., 14, 742–753,, 2004. 
Alajlan, N., El Rube, I., Kamel, M. S., and Freeman, G.: Shape retrieval using triangle-area representation and dynamic space warping, Pattern Recogn., 40, 1911–920,, 2007. 
Bertani, R., Melegari, C., De Cola, M. C., Bramanti, A., Bramanti, P., and Calabrò, R. S.: Effects of robot-assisted upper limb rehabilitation in stroke patients: a systematic review with meta-analysis, Neurol. Sci., 38, 1561–1569,, 2017. 
Cao, Y., Zhang, Z., Czogiel, I., Dryden, I., and Wang, S.: 2D nonrigid partial shape matching using MCMC and contour subdivision, CVPR 2011, Conference on Computer Vision and Pattern Recognition (CVPR), Colorado Springs, CO, USA, 20–25 June 2011, 2345–2352,, 2011. 
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.