# Module combination based configuration synthesis and kinematic analysis of generalized spherical parallel mechanism for ankle rehabilitation

> Research article (Mechanism and Machine Theory, 2021) · cited 29× · AI/ML

**Wikidata**: [openalex:W3195598549](https://www.wikidata.org/wiki/openalex:W3195598549)  
**Source**: https://4ort.xyz/entity/module-combination-based-configuration-synthesis-and-kinematic-analysis-of-generalized-spherical-parallel-mechanism-for-