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 original||Inglés estadounidense|
|Título de la publicación alojada||2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021|
|Editorial||Institute of Electrical and Electronics Engineers Inc.|
|Número de páginas||6|
|ISBN (versión digital)||9781665406970|
|Estado||Publicada - 2021|
|Evento||6th International Conference on Robotics and Automation Engineering, ICRAE 2021 - Guangzhou, China|
Duración: 19 nov. 2021 → 22 nov. 2021
Serie de la publicación
|Nombre||2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021|
|Conferencia||6th International Conference on Robotics and Automation Engineering, ICRAE 2021|
|Período||19/11/21 → 22/11/21|
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© 2021 IEEE.