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Table 4 The operation width difference between measuring and training

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 (mm) Y (mm) Z (mm)
A − 0.1 − 0.1 − 0.8 6.0 − 1.3 − 0.4
B 1.8 3.2 4.9 − 1.0 3.2 3.1
C 2.9 3.6 6.5 4.5 1.0 1.4
D 1.4 1.8 1.8 − 1.5 3.0 − 2.3
E 4.6 0.9 2.2 − 2.2 8.2 2.1
F 4.8 1.4 6.5 − 0.7 − 1.6 − 0.5