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Structure Optimization of the Cable Driven Legs Trainer

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

In this paper, we investigate a design optimization of a planar cable robot included in a gait training machine called the Cable Driven Legs Trainer. Generally, design of cable-driven parallel manipulator is constrained by generating non-negative tension in all the cables in order to guarantee the feasibility of a robot’s pose, and moreover, cable interference problem should be avoided. The cable robot of the gait trainer is employed to move the lower limb with the purpose to mimic the normal walking motion. Therefore, the structure of this robot is optimized using a discrete approach such that the gait kinematics is carefully produced.

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Author information

Authors and Affiliations

  1. Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000, Sousse, Tunisia

    Houssein Lamine, Sami Bennour & Lotfi Romdhane

  2. Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR, 3346, Poitiers, France

    Med Amine Laribi & Said Zeghloul

  3. Mechanical Engineering Department, American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates

    Lotfi Romdhane

Authors
  1. Houssein Lamine
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  2. Med Amine Laribi
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  3. Sami Bennour
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  4. Lotfi Romdhane
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  5. Said Zeghloul
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Corresponding author

Correspondence to Houssein Lamine .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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Lamine, H., Laribi, M.A., Bennour, S., Romdhane, L., Zeghloul, S. (2018). Structure Optimization of the Cable Driven Legs Trainer. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_73

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_73

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

  • eBook Packages: EngineeringEngineering (R0)

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