Figure 4From: Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom\(3{ - }{\text{R}}_{{1{\text{ma}}}} \overline{\text{P}}\tilde{\text{P}}\dot{\text{P}}_{{{\text{sa}}}} \hat{\text{R}}\hat{\text{R}}\) (3R3P) SPSAARRBack to article page