# Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies

> Research article (Mechanism and Machine Theory, 2017) · cited 53× · AI/ML

**Wikidata**: [openalex:W2592849791](https://www.wikidata.org/wiki/openalex:W2592849791)  
**Source**: https://4ort.xyz/entity/design-development-and-control-of-a-2prp-2ppr-planar-parallel-manipulator-for-lower-limb-rehabilitation-therapies