Tracking Trajectory Of A Cable-Driven Robot For Lower Limb Rehabilitation

Abstract

This paper investigates and presents a cable-driven<br> robot to lower limb rehabilitation use in sagittal plane. The presented<br> rehabilitation robot is used for a trajectory tracking in joint space.<br> The paper covers kinematic and dynamic analysis, which reveals<br> the tensionability of the used cables as being the actuating source<br> to provide a rehabilitation exercises of the human leg. The desired<br> trajectory is generated to be used in the control system design in joint<br> space. The obtained simulation results is showed to be efficient in<br> this kind of application.