Seat 9 0 Resistance Cylinder bF.3(y-5-2(4\-+1 Ground any ofter link,eite A-c r DF.A tnienul ucht rewis. tee,tHeo妈inal mechan的n人.+1 DoF Fig2.A rowing-type exercise trainer Co Co D ● 60 Fig3.The step to ramp mechanism for the handicapped )F=3(6-)-2(7)=+1 33 Fig2. A rowing-type exercise trainer Fig3. The step to ramp mechanism for the handicapped