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Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot
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Jiangcheng Chen1,Xiaodong Zhang2,Lei Zhu3
*1, Xi'an Jiaotong University , Email : jiangcheng.0502@163.com
2, Xi’an Jiaotong University, Email : amct@mail.xjtu.edu.cn
3, Xi’an Jiaotong University, Email : zhulei19891218@163.com
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Abstract
.The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D Reappearance of a complete gait was achieved. Finally, the reliability of numerical algorithm of inverse kinematics was verified by the simulation result. All jobs above lay a foundation for developing a three-dimensional simulation platform of exoskeleton robot.
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Keywords
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Kinematics analysis ; rehabilitation ; extremity exoskeleton robot ; three-dimensional simulation
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URL: http://dx.doi.org/10.7321/jscse.v3.n3.51
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