# Parameters optimization and trajectory planning of a novel 3-UPU parallel mechanism for ankle rehabilitation

> Research article (Robotica, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4386309700](https://www.wikidata.org/wiki/openalex:W4386309700)  
**Source**: https://4ort.xyz/entity/parameters-optimization-and-trajectory-planning-of-a-novel-3-upu-parallel-mechanism-for-ankle-rehabilitation