Structure Optimization of the Cable Driven Legs Trainer

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.