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In this context, the issue of extending the rotational workspace of a CDPR while maintaining a compact robot structure is addressed in this paper. This work is motivated by the need to find the optimal CDPR for upper limb rehabilitation allowing to assist the patient\u2019s hand along a set of prescribed tasks. Firstly, a reconfigurable robot, where the motors\u2019 locations are movable, is proposed in order to help reaching all the prescribed poses. Although this solution presents promising results compared to classical CDPRs, it involves a sizable robot structure inadequate to rehabilitation application. To improve the obtained solution, another approach is proposed, based on combining the large translational workspace of CDPRs and the large rotational workspace of serial manipulators. The optimal structure of a hybrid robot will be considered for the prototype design.<\/jats:p>","DOI":"10.1017\/s0263574722000923","type":"journal-article","created":{"date-parts":[[2022,7,5]],"date-time":"2022-07-05T06:21:37Z","timestamp":1657002097000},"page":"850-868","source":"Crossref","is-referenced-by-count":4,"title":["A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-2622-6900","authenticated-orcid":false,"given":"Ferdaws","family":"Ennaiem","sequence":"first","affiliation":[]},{"given":"Abdelbadia","family":"Chaker","sequence":"additional","affiliation":[]},{"given":"Juan","family":"Sandoval","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8827-736X","authenticated-orcid":false,"given":"Abdelfattah","family":"Mlika","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8509-2386","authenticated-orcid":false,"given":"Lotfi","family":"Romdhane","sequence":"additional","affiliation":[]},{"given":"Sami","family":"Bennour","sequence":"additional","affiliation":[]},{"given":"Said","family":"Zeghloul","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2022,7,5]]},"reference":[{"key":"S0263574722000923_ref21","first-page":"060007","volume-title":"AIP Conference Proceedings","volume":"1983","author":"Hanafie","year":"2018"},{"key":"S0263574722000923_ref14","doi-asserted-by":"crossref","unstructured":"[14] Georg, R. , Joachim, V. 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