@CHAPTER{ iet:/content/books/10.1049/pbhe014e_ch5, keywords = {pneumatic artificial muscles;pneumatic control system;stiffness;torque-sensitive trajectory;robotic orthosis;parallel mechanism;spasticity;robotic device;wrist joints;cerebral palsy patients;soft wrist rehabilitation robot;ageing society;model-based pressure close-loop control strategy;rehabilitation exercise;mechanical design;stroke patients;}, title = {Soft wrist rehabilitation robot}, booktitle = Soft Robots for Healthcare Applications: Design, modelling, and control, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {87-106}, series = {Healthcare Technologies}, doi = {10.1049/PBHE014E_ch5}, url = {https://digital-library.theiet.org/;jsessionid=3oq4r1na3mp7g.x-iet-live-01content/books/10.1049/pbhe014e_ch5} }