Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-729-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-729-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 2
Research article
 | 
11 Nov 2025
Research article |  | 11 Nov 2025

Design of a rehabilitation mechanism based on linkage mechanisms

Kan Shi, Dongbin Zhang, Haidong Wang, and Ran Wang

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Short summary
This paper presents a novel rehabilitation mechanism for patients with unilateral motor deficits. Its core principle is "the sound side drives the affected side", using a single-degree-of-freedom mechanical system where the patient's healthy limbs power the movement of their impaired ones. The device consists of an eight-bar leg mechanism, a six-bar arm mechanism, and a back transmission system to ensure coordinated contralateral motion. Design validity was confirmed via simulation and a prototype.
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