Kinematic Position and Orientation Analysis of a 4 DoF Orthosis for Knee and Ankle Rehabilitation

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Resumen

Nowadays, lower-limb orthoses facilitate various locomotion tasks for rehabilitation therapies that are repetitive and constant. Therefore, this research presents the kinematic analysis of a 4 DoF orthosis for knee and ankle rehabilitation. To obtain the kinematics of the axes, an analysis was performed from the biomechanical point of view, consequently, the Denavit-Hartenberg (D-H) method was used, which consisted of finding a homogeneous transformation matrix, followed by the orientation, position, and Euler angles; furthermore, the open-source software Jupiter (Phyton) was used as a testing tool. The homogeneous transformation matrix was obtained as a result and the simplification of the direct kinematic matrices was achieved. Finally, the direct kinematic analysis for a 4 DoF orthosis was established using the method of position (D-H), orientation, and Euler angles, which were very useful for the research.

Idioma originalInglés estadounidense
Título de la publicación alojada2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas141-146
-6
ISBN (versión digital)9781665406970
DOI
EstadoIndizado - 2021
Evento6th International Conference on Robotics and Automation Engineering, ICRAE 2021 - Guangzhou, China
Duración: 19 nov. 202122 nov. 2021

Serie de la publicación

Nombre2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021

Conferencia

Conferencia6th International Conference on Robotics and Automation Engineering, ICRAE 2021
País/TerritorioChina
CiudadGuangzhou
Período19/11/2122/11/21

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Publisher Copyright:
© 2021 IEEE.

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