Figure 6From: Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom\(3{\text{ - R}}_{{1}} {\text{R}}_{{1}} {\text{R}}_{{1}} \dot{\text{P}}_{{{\text{sa}}}} \hat{\text{R}}_{{{\text{ma}}}} \hat{\text{R}}\) (5R1P) PSAARRBack to article page