Marwan El-Rich

Feb 2, 2023 | mdpi.com | Rajan Prasad |Marwan El-Rich |Mohammad Awad |Sunil K. Agrawal

3. Trajectory Tracking with Four-Cable ConfigurationFor an open-chain cable-driven mechanism, the number of cables must be higher than the DOFs being driven [32,33] in order to fully constrain the motion. In our recent work [20], the motion of the 2DOF model-based design of C-LREX was fully constrained by using three cables. In this work, we employed four cables to track the bi-planar trajectory of the lower limb.