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 Chapter |
| Language: | English |
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Springer
2017
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| Online Access: | 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 |
| _version_ | 1848819773725474816 |
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| 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 |
| building | UMP Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T01:58:53Z |
| format | Book Chapter |
| id | ump-14637 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:58:53Z |
| publishDate | 2017 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 Chapter 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 |
| 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 |
| title | 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_short | 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 |
| topic | TS Manufactures |
| 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 |