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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Kinematics Analysis of a 3DoF Lower Limb Exoskeleton for Gait Rehabilitation: A Preliminary Investigation
verfasst von : M. A. Zakaria, A. P. P. Abdul Majeed, I. M. Khairuddin, Z. Taha
Erschienen in: 3rd International Conference on Movement, Health and Exercise
Verlag: Springer Singapore
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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.