Table 1 Weighted sum optimization function values for configurations.

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

Configuration

Conf-A

Conf-B

Conf-C

Conf-D

Conf-E

Conf-F

Function Value f1

0.256

0.235

0.456

0.052

0.133

0.154

Function Value f2

0.031

0.032

0.035

0.028

0.046

0.043

Function Value f3

0.092

0.099

0.105

0.067

0.160

0.175

Function Value f4

0.087

0.084

0.094

0.090

0.141

0.147

Combined Function Value (f)

0.466

0.449

0.690

0.237

0.480

0.519

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