Cable driven robot for lower limb rehabilitation: motion specifications and design process
This paper deals with a design approach of cable driven parallel robot combined with optical tracking of rehabilitation exercises. Two criterion have been handled by the optimization process using genetic algorithms yielding to the optimal solution, namely the non-negative power function and the non-negative cable tension. The approach is referred to LAWEX robot (LARM Wire driven Exercising device), which is applied to lower limbs exercises. The LAWEX robot, with four cables, is considered in a redundant configuration to perform requested rehabilitation trajectories.
Keywordscable driven parallel robot rehabilitation motion capture optimal design
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