Figure 8From: Smooth Trajectory Planning for a Cable Driven Parallel Waist Rehabilitation Robot Based on Rehabilitation Evaluation FactorsVariations of \({h}_{\mathrm{max}}\), \({\alpha }_{\mathrm{max}}\) and \({j}_{\mathrm{max}}\) with \({k}_{a}\) and \({k}_{b}\)Back to article page