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The Antigua-born right-armer made his debut for the county at the end of the 2005 season and remained at the club until the end of the 2011 season.
He signed a deal with Leicestershire in 2012 but has not played a First Class game since August 2012.
The former England Lions bowler took 144 FC wickets during his time with Kent at an average of 31.25 and a further 47 wickets in limited overs cricket.
Head coach Jimmy Adams explained last week: “Robbie is a known quality here and basically is desperate for an opportunity in the game. He’s turned up with a really good attitude, bowled well and we’re keen to see where this relationship can go.
“A Robbie Joseph bowling well will get wickets, it’s as simple as that. I think it’s a win-win situation. On one hand you have a young man who’s desperate to play professional cricket and on other hand have a club that will always be looking for potential match-winning talent.”
Mark Davies (shoulder) and Calum Haggett (side) will miss the LV= County Championship Division 2 season opener at Worcester, which starts on Sunday, though Joseph and overseas arrival Doug Bollinger are in contention to start.
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