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.
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Zakaria, M.A., Abdul Majeed, A.P.P., Khairuddin, I.M., Taha, Z. (2017). Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation. In: Ibrahim, F., Cheong, J., Usman, J., Ahmad, M., Razman, R., Selvanayagam, V. (eds) 3rd International Conference on Movement, Health and Exercise. MoHE 2016. IFMBE Proceedings, vol 58. Springer, Singapore. https://doi.org/10.1007/978-981-10-3737-5_36
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DOI: https://doi.org/10.1007/978-981-10-3737-5_36
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