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

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

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Abstract

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.

Item Type: Book Section
Uncontrolled Keywords: Exoskeleton kinematics; Exoskeleton forward kinematics; Exoskeleton inverse kinematics; Exoskeleton D-H representation; Lower limb kinematics
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 10 Apr 2017 01:47
Last Modified: 11 Sep 2017 10:09
URI: http://umpir.ump.edu.my/id/eprint/14637
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