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Given the precision and movement stability considerations of the mechanism, an analytical model is developed. Using this model, we analyze the error of the CGM and derive velocity and acceleration mappings from the moving platform to the cables. Continuity of cable trajectory and tension is rigorously demonstrated. Subsequently, a mathematical model for PCUR stiffness is formulated. Utilizing MATLAB\/Simscape Multibody, simulation models for the CGM and stiffness characteristics are constructed. The feasibility of the proposed CGM design is validated through simulation and experimentation, while the influence of stiffness characteristics on PCUR motion stability is comprehensively analyzed.<\/jats:p>","DOI":"10.1017\/s0263574724002236","type":"journal-article","created":{"date-parts":[[2025,1,10]],"date-time":"2025-01-10T03:18:16Z","timestamp":1736479096000},"page":"793-815","source":"Crossref","is-referenced-by-count":5,"title":["Accurate kinematic and stiffness analysis of parallel cable-driven upper limb rehabilitation robot with spherical guide wheel cable-guiding mechanism"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7127-3992","authenticated-orcid":false,"given":"Yupeng","family":"Zou","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0009-6636-7968","authenticated-orcid":false,"given":"Keyu","family":"Pan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0009-1924-4690","authenticated-orcid":false,"given":"Mengfei","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Xiaojing","family":"Lai","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0002-9867-8823","authenticated-orcid":false,"given":"Tianyu","family":"Lan","sequence":"additional","affiliation":[]},{"given":"Zhishen","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Changsheng","family":"Li","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2025,1,10]]},"reference":[{"key":"S0263574724002236_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2495005"},{"key":"S0263574724002236_ref27","doi-asserted-by":"publisher","DOI":"10.7227\/IJEEE.41.4.11"},{"key":"S0263574724002236_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722001345"},{"key":"S0263574724002236_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-4422(19)30415-6"},{"key":"S0263574724002236_ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.01.023"},{"key":"S0263574724002236_ref5","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-5"},{"key":"S0263574724002236_ref22","doi-asserted-by":"publisher","DOI":"10.1002\/rob.8102"},{"key":"S0263574724002236_ref11","doi-asserted-by":"crossref","first-page":"1149","DOI":"10.1038\/s42256-023-00728-z","article-title":"A soft-packaged and portable rehabilitation glove capable of closed-loop fine motor skills\u2019","volume":"5","author":"Mengli","year":"2023","journal-title":"Nat Mach Intell"},{"key":"S0263574724002236_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s40141-016-0139-0"},{"key":"S0263574724002236_ref17","unstructured":"[17] MartinJ.-D. 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