Abstract
The aim of this chapter is to presents a Kinematic analysis of a Cable-Driven Robot for rehabilitation use of human lower limb, by taking into account the constraints required by the entrainment system and the mobile platform (human leg). The proposed approach is focused on optimizing the manipulability and the human performance of the human leg, as being a physiologically constrained three-link arm. The obtained forward kinematic model leads to define the feasible workspace of the human leg in the considered configuration. Using an effective optimization-based human performance measure that incorporates a new objective function of musculoskeletal discomfort, and the mapping relation between articular joints actuator, length cables and articular joint mobile platform, the optimal inverse kinematic (IK) model is obtained.
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