Figure 5From: Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom\(3{\text{ - R}}_{{{\text{1ma}}}} \overline{\text{P}}{\tilde{\text{P}}}{\text{R}}_{{2{\text{sa}}}} \hat{\text{R}}_{2} \hat{\text{R}}\) (4R2P) PSAARRBack to article page