Cable driven robot for lower limb rehabilitation: motion specifications and design process

  • M. A. LaribiEmail author
  • G. Carbone
  • S. Zeghloul
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


cable driven parallel robot rehabilitation motion capture optimal design 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of GMSCPprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346PoitiersFrance
  2. 2.LARM (Laboratory of Robotics and Mechatronics)University of Cassino and South LatiumCassinoItaly

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