%0 Journal Article
	%A Hachmia Faqihi and  Maarouf Saad and  Khalid Benjelloun and  Mohammed Benbrahim and  M. Nabil Kabbaj
	%D 2016
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 116, 2016
	%T Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation
	%U https://publications.waset.org/pdf/10005036
	%V 116
	%X This paper investigates and presents a cable-driven
robot to lower limb rehabilitation use in sagittal plane. The presented
rehabilitation robot is used for a trajectory tracking in joint space.
The paper covers kinematic and dynamic analysis, which reveals
the tensionability of the used cables as being the actuating source
to provide a rehabilitation exercises of the human leg. The desired
trajectory is generated to be used in the control system design in joint
space. The obtained simulation results is showed to be efficient in
this kind of application.
	%P 1036 - 1041