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...

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Main Authors:	Muhammad Aizzat, Zakaria, Anwar, P. P. A. Majeed, Ismail, Mohd Khairuddin, Zahari, Taha
Format:	Book Section
Language:	English
Published:	Springer 2017
Subjects:	TS Manufactures
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

id	ump-14637
recordtype	eprints
spelling	ump-146372017-09-11T10:09:58Z http://umpir.ump.edu.my/id/eprint/14637/ Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation Muhammad Aizzat, Zakaria Anwar, P. P. A. Majeed Ismail, Mohd Khairuddin Zahari, Taha TS Manufactures 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. Springer 2017 Book Section PeerReviewed application/pdf en 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 Muhammad Aizzat, Zakaria and Anwar, P. P. A. Majeed and Ismail, Mohd Khairuddin and Zahari, Taha (2017) Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation. In: 3rd International Conference on Movement, Health and Exercise: Engineering Olympics Success: From Theory to Practice. Springer, pp. 168-172. ISBN 978-981-10-3736-8 https://books.google.com.my/books?id=BMAHDgAAQBAJ&pg=PA169&dq=Kinematics+Analysis+of+a+3DoF+Lower+Limb+Exoskeleton+for+Gait+Rehabilitation:+A+Preliminary+Investigation&hl=en&sa=X&redir_esc=y#v=onepage&q=Kinematics%20Analysis%20of%20a%203DoF%20Lower%20Limb DOI: 10.1007/978-981-10-3737-5
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Muhammad Aizzat, Zakaria Anwar, P. P. A. Majeed Ismail, Mohd Khairuddin Zahari, Taha Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
description	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.
format	Book Section
author	Muhammad Aizzat, Zakaria Anwar, P. P. A. Majeed Ismail, Mohd Khairuddin Zahari, Taha
author_facet	Muhammad Aizzat, Zakaria Anwar, P. P. A. Majeed Ismail, Mohd Khairuddin Zahari, Taha
author_sort	Muhammad Aizzat, Zakaria
title	Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
title_short	Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
title_full	Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
title_fullStr	Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
title_full_unstemmed	Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
title_sort	kinematics analysis of a 3dof lower limb exoskeleton for gait rehabilitation: a preliminary investigation
publisher	Springer
publishDate	2017
url	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
first_indexed	2023-09-18T22:18:37Z
last_indexed	2023-09-18T22:18:37Z
_version_	1777415505821302784

Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation

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