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Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation
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class="card"> <div class="card-body"><strong>Paper Count:</strong> 87356</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hachmia%20Faqihi">Hachmia Faqihi</a>, <a href="https://publications.waset.org/abstracts/search?q=Maarouf%20Saad"> Maarouf Saad</a>, <a href="https://publications.waset.org/abstracts/search?q=Khalid%20Benjelloun"> Khalid Benjelloun</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammed%20Benbrahim"> Mohammed Benbrahim</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Nabil%20Kabbaj"> M. Nabil Kabbaj</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application. <iframe src="https://publications.waset.org/abstracts/50711.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cable-driven%20multi-body%20system" title="cable-driven multi-body system">cable-driven multi-body system</a>, <a href="https://publications.waset.org/abstracts/search?q=computed-torque%20controller" title=" computed-torque controller"> computed-torque controller</a>, <a href="https://publications.waset.org/abstracts/search?q=lower%20limb%20rehabilitation" title=" lower limb rehabilitation"> lower limb rehabilitation</a>, <a href="https://publications.waset.org/abstracts/search?q=tracking%20trajectory" title=" tracking trajectory"> tracking trajectory</a> </p> <a 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