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

Producción científica: Libro o Capítulo del libro › Contribución a la conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés estadounidense
Título de la publicación alojada	Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
Editorial	Association for Computing Machinery
Páginas	120-125
-	6
ISBN (versión digital)	9781450385206
DOI	https://doi.org/10.1145/3518781.3519192
Estado	Indizado - 3 dic. 2021
Publicado de forma externa	Sí
Evento	2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021 - Virtual, Online, China Duración: 3 dic. 2021 → 5 dic. 2021

Serie de la publicación

Nombre	ACM International Conference Proceeding Series

Conferencia

Conferencia	2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
País/Territorio	China
Ciudad	Virtual, Online
Período	3/12/21 → 5/12/21

Nota bibliográfica

Publisher Copyright:
© 2021 ACM.

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10.1145/3518781.3519192

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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. En 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

@inproceedings{802532333b0d470aafc3cc3ba4915130,

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.\}",

note = "Publisher Copyright: {\textcopyright} 2021 ACM.; 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021 ; Conference date: 03-12-2021 Through 05-12-2021",

year = "2021",

month = dec,

day = "3",

doi = "10.1145/3518781.3519192",

language = "American English",

series = "ACM International Conference Proceeding Series",

publisher = "Association for Computing Machinery",

pages = "120--125",

booktitle = "Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021",

}

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. En 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).

Producción científica: Libro o Capítulo del libro › Contribución a la conferencia › revisión exhaustiva

TY - GEN

T1 - Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation

AU - Huamanchahua, Deyby

AU - Soto Conde, Nick

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.

KW - Denavit-Hartenberg convention

KW - Exoskeleton

KW - Hip

KW - Kinematic analysis

UR - https://www.scopus.com/pages/publications/85132202768

U2 - 10.1145/3518781.3519192

DO - 10.1145/3518781.3519192

M3 - Conference contribution

AN - SCOPUS:85132202768

T3 - ACM International Conference Proceeding Series

SP - 120

EP - 125

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

PB - Association for Computing Machinery

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

Y2 - 3 December 2021 through 5 December 2021

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. En 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

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