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Table 2 Specification of the training device

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

Installation weight 1.5 kg
Maximum stroke speed 100 mm/s
Minimum resolution 0.01 mm
Actuator maximum acceleration 82.9 m/s2
Rated thrust (total value) 21.6 N
Standard deviation at training (angle) 0.41°
Standard deviation at training (position) 0.22 mm