Kinematic and dynamic model analysis for an improved design of home-based wearable lower limb rehabilitation robot
نویسندگان
چکیده
This paper presents the analysis of kinematic and dynamic modeling a wearable lower-limb robot (WLLR) for home-based applications. SOLIDWORKS software was utilized, concept modular configuration adopted into design. The Denavit Hartenberg (DH) geometric method were employed to obtain theoretical forward inverse kinematics model respectively. Lagrangian formulation on kinetic potential energy selected derive joint torque equation. For validation, MATLAB Robotic ToolBox utilized simulate behaviour WLLR while SimMechanics used investigate maximum hip knee in various ranges motion (ROM) walking condition. results showed strong agreement simulation WLLR. required conditions less than motion. recorded at ROM condition is 74.73 Nm 15.05 respectively 55.00 11.01 essential as basis further actuator selection control system development.
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ژورنال
عنوان ژورنال: Nucleation and Atmospheric Aerosols
سال: 2023
ISSN: ['0094-243X', '1551-7616', '1935-0465']
DOI: https://doi.org/10.1063/5.0110305