From: Development of wearable rehabilitation device using parallel link mechanism: rehabilitation of compound motion combining palmar/dorsi flexion and radial/ulnar deviation
θ roll
θ pitch
θ yaw
X
Y
Z
A
0.96
0.99
B
0.94
1.00
0.97
0.98
C
0.82
D
0.93
E
F
0.91
0.74