Figure 1 | Scientific Reports

Figure 1

From: Muscle-inspired bi-planar cable routing: a novel framework for designing cable driven lower limb rehabilitation exoskeletons (C-LREX)

Figure 1

Conceptual models generated for analysis: (a). 4 Cable routing adopted from33 (Conf-A), (b). 4 Cable routing—I with one intermediate hinge for long cable 1 (Conf-B): IH refers to intermediate hinge, (c). 4 Cable routing—II with two intermediate hinges for long cable1 (Conf-C), (d). 5 Cable routing (Conf-D), (e). Biological muscle mimicked model (Conf-E), (f). Biological muscle mimicked model -I with one intermediate hinge for each long cable: 3 and 4 (Conf-F), (g). Major muscles contributing while walking39, (h). Sagittal and transverse plane views of biological muscle mimicked model (Conf-E), (i). Sagittal and transverse plane views of biological muscle mimicked model—I (Conf-F). Cables (IL and GL) are routed in the frontal plane, remaining cables are modified or slightly pushed in the frontal plane to avoid interference with the other cables.

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