Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation

Deyby Huamanchahua; Nick Soto Conde; Jean Carlos Vasquez Frias; Diego Lopez Meza; Angel E. Alvarez-Rodríguez

doi:10.1145/3518781.3519192

Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation

Deyby Huamanchahua, Nick Soto Conde, Jean Carlos Vasquez Frias, Diego Lopez Meza, Angel E. Alvarez-Rodríguez

Research output: Chapter in Book/Report › Conference contribution › peer-review

Abstract

This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.

Original language	American English
Title of host publication	Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
Publisher	Association for Computing Machinery
Pages	120-125
Number of pages	6
ISBN (Electronic)	9781450385206
DOIs	https://doi.org/10.1145/3518781.3519192
State	Indexed - 3 Dec 2021
Externally published	Yes
Event	2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021 - Virtual, Online, China Duration: 3 Dec 2021 → 5 Dec 2021

Publication series

Name	ACM International Conference Proceeding Series

Conference

Conference	2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
Country/Territory	China
City	Virtual, Online
Period	3/12/21 → 5/12/21

Bibliographical note

Publisher Copyright:
© 2021 ACM.

Keywords

Denavit-Hartenberg convention
Exoskeleton
Hip
Kinematic analysis

Access to Document

10.1145/3518781.3519192

Cite this

Huamanchahua, D., Soto Conde, N., Vasquez Frias, J. C., Lopez Meza, D., & Alvarez-Rodríguez, A. E. (2021). Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation. In Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021 (pp. 120-125). (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3518781.3519192

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title = "Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation",

abstract = "This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.",

keywords = "Denavit-Hartenberg convention, Exoskeleton, Hip, Kinematic analysis",

author = "Deyby Huamanchahua and {Soto Conde}, Nick and {Vasquez Frias}, {Jean Carlos} and {Lopez Meza}, Diego and Alvarez-Rodr{\'i}guez, {Angel E.}",

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year = "2021",

month = dec,

day = "3",

doi = "10.1145/3518781.3519192",

language = "American English",

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Huamanchahua, D, Soto Conde, N, Vasquez Frias, JC, Lopez Meza, D & Alvarez-Rodríguez, AE 2021, Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation. in Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021. ACM International Conference Proceeding Series, Association for Computing Machinery, pp. 120-125, 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021, Virtual, Online, China, 3/12/21. https://doi.org/10.1145/3518781.3519192

Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation. / Huamanchahua, Deyby; Soto Conde, Nick; Vasquez Frias, Jean Carlos et al.
Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021. Association for Computing Machinery, 2021. p. 120-125 (ACM International Conference Proceeding Series).

Research output: Chapter in Book/Report › Conference contribution › peer-review

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AU - Vasquez Frias, Jean Carlos

AU - Lopez Meza, Diego

AU - Alvarez-Rodríguez, Angel E.

PY - 2021/12/3

Y1 - 2021/12/3

N2 - This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.

AB - This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.

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M3 - Conference contribution

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T3 - ACM International Conference Proceeding Series

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BT - Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021

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T2 - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021

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ER -

Huamanchahua D, Soto Conde N, Vasquez Frias JC, Lopez Meza D, Alvarez-Rodríguez AE. Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation. In Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021. Association for Computing Machinery. 2021. p. 120-125. (ACM International Conference Proceeding Series). doi: 10.1145/3518781.3519192

Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation

Abstract

Publication series

Conference

Bibliographical note

Keywords

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Cite this