Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation...
| Main Authors: | , , , |
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| Format: | Book Section |
| Language: | English |
| Published: |
Springer
2017
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/14637/ http://umpir.ump.edu.my/id/eprint/14637/ http://umpir.ump.edu.my/id/eprint/14637/ http://umpir.ump.edu.my/id/eprint/14637/1/25.%20Kinematics%20analysis%20of%20a%203DoF%20lower%20limb%20exoskeleton%20for%20gait%20rehabilitation%20a%20preliminary%20investigation.pdf |
| Summary: | Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation, as well as the geometrical solution approach, are employed to obtain the forward and inverse kinematics of the exoskeleton, respectively. A simulation study is performed to validate the proposed model. |
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