面向踝关节康复的四自由度广义球面并联机构运动学性能*

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机械工程学报 ›› 2021, Vol. 57 ›› Issue (21) : 45-54. DOI: 10.3901/JME.2021.21.045

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Kinematic Performance of 4-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

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{{article.zuoZheCn_L}}. {{article.title_cn}}[J]. {{journal.qiKanMingCheng_CN}}, 2021, 57(21): 45-54 https://doi.org/10.3901/JME.2021.21.045

{{article.zuoZheEn_L}}. {{article.title_en}}[J]. {{journal.qiKanMingCheng_EN}}, 2021, 57(21): 45-54 https://doi.org/10.3901/JME.2021.21.045

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