Table 1 Comparison of the desired and achieved motion ranges.

From: Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation

Number

Action

Required

Actual

(a)

Abduction

0°–19°

0°–19°

Adduction

0°–33°

0°–34°

(b)

Flexion

0°–73°

0°–75°

Extension

0°–71°

0°–73°

(c)

Supination

0°–86°

0°–88°

Pronation

0°–71°

0°–73°

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