Preprint · SSRN Electronic Journal · January 1, 2026

A Geometry-Guided Sizing and Static Force Modeling Protocol for Compact Antagonistic Cable-Driven Joints

Sharafatdin Yessirkepov, Adilet Toleshev, Aibek S. Niyetkaliyev, Ali Kaiyrdykozha, Aiman K. Ozhikenova, Lashin Bazarbay

Robotic Mechanisms and DynamicsSoft Robotics and ApplicationsProsthetics and Rehabilitation Roboticscable-driven parallel mechanismupper limb rehabilitationcable interference

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