{'fraction_non_alphanumeric': 0.012429378531073447, 'fraction_numerical': 0.0, 'mean_word_length': 4.946308724832215, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Cable-Driven Parallel Manipulator for Lower Limb Rehabilitation

The development of robotic devices to apply in the rehabilitation process of human lower limbs is justified by the large number of people with lower limb problems due to stroke and/or accidents. Thus, this paper presents a cable-driven parallel manipulator for lower limb rehabilitation which is composed by a fixed base and a mobile platform that can be connected to one cable at most six and can performing the movement of human gait and the individual movements of the hip, the knee and the ankle. This paper starts with a study of the basic movements of the lower limb. Then the kinetostatic and force analysis were presented. The graphical simulation and experimental tests of the cable-driven parallel structure for lower limb rehabilitation movements are presented showing the viability of the proposed structure.