Development of wearable rehabilitation device using parallel link mechanism: rehabilitation of compound motion combining palmar/dorsi flexion and radial/ulnar deviation

ROBOMECH Journal

Table 1 Maximum range of motion of the device and the human wrist joint

	Human body	Developed device
Palmar/dorsi flexion (°)	− 70 to 90	− 50 to 60
Radial/ulnar deviation action (°)	− 50 to 25	− 45 to 45
Pronation and supination movements (°)	− 90 to 90	− 45 to 45