体感交互式上肢镜像康复训练机器人系统
刘庆祥,郭冰菁,韩建海,李向攀,黄明祥

Somatosensory interactive upper-limb mirror rehabilitation training robot system
Qing-xiang LIU,Bing-jing GUO,Jian-hai HAN,Xiang-pan LI,Ming-xiang HUANG
图4 基于工作空间的人机镜像运动映射算法
Fig.4 Human-machine mirror motion mapping algorithm based on workspace