Open Science Research Excellence

Hachmia Faqihi

Publications

1

Publications

1
10005036
Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation
Abstract:
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.
Keywords:
Cable-driven multibody system, computed-torque controller, lower limb rehabilitation, tracking trajectory.