Mechanical Analysis for Active Movement of Upper Limb Rehabilitation Robots to Alleviate Shoulder Pain in Patients with Stroke Hemiplegia and Frozen Shoulder.

- The X-coordinate exhibited a decreasing trend with a negative slope across most segments, with notable deviations observed in Links 2 and 3. - The Y-coordinate showed a nearly linear decrease as the rotation angle increased, suggesting a close relationship with the motion of the rotational center. - The Z-coordinate exhibited only minor changes across all segments, indicating that the robot structure was primarily designed for planar motion.

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