This paper presents a static force analysis on a wrist rehabilitation robot to predict the force caused by the misalignment of human and robot joint. Initial offset influence and the use of compliances between human and robot hand were investigated by using an analytical model. With human forearm in the horizontal plane, the initial offset in the direction of perpendicular to the forearm led to larger unwanted force, and the use of compliance can reduce the maximum unwanted force compared to the case without compliance. Moreover, adding supplementary passive joints to the exoskeleton was another approach for misalignment compensation. The comparisons of force acted on wrist joint were made and discussed.
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