Kinematic And Dynamic Analysis Of A Lower Limb Exoskeleton

Tawakal Hasnain Baluch; Adnan Masood; Javaid Iqbal; Umer Izhar; Umar Shahbaz Khan

doi:10.5281/zenodo.1072880

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Kinematic And Dynamic Analysis Of A Lower Limb Exoskeleton

Journal article

Peer reviewed

Kinematic And Dynamic Analysis Of A Lower Limb Exoskeleton

Tawakal Hasnain Baluch, Adnan Masood, Javaid Iqbal, Umer Izhar and Umar Shahbaz Khan

International Journal of Mechanical and Mechatronics Engineering, Vol.6(9), pp.1945-1949

2012

DOI: https://doi.org/10.5281/zenodo.1072880

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Abstract

Robotics

Computer Science

Dynamic Analysis

Exoskeleton

Kinematic Analysis

Lower Limb

Rehabilitation Robotics

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton.

Details

Title: Kinematic And Dynamic Analysis Of A Lower Limb Exoskeleton
Authors: Tawakal Hasnain Baluch (Author) - National University of Sciences and Technology
Adnan Masood (Author) - National University of Sciences and Technology
Javaid Iqbal (Author) - National University of Sciences and Technology
Umer Izhar (Author) - National University of Sciences and Technology
Umar Shahbaz Khan (Author) - National University of Sciences and Technology
Publication details: International Journal of Mechanical and Mechatronics Engineering, Vol.6(9), pp.1945-1949
Publisher: Istanbul Aydin University, Engineering Faculty
DOI: 10.5281/zenodo.1072880
ISSN: 2148-998X
Organisation Unit: University of the Sunshine Coast, Queensland; School of Science, Technology and Engineering
Language: English
Record Identifier: 99622940202621
Output Type: Journal article

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