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Dynamic analysis of three degree of freedom (3-DOF) exoskeleton for lower extremities

Mohd Zawawi, M.Z.F. and Elamvazuthi, I. and Aziz, A.A. and Mazlan, S.F. and Ku Abd Rahim, K.N. (2017) Dynamic analysis of three degree of freedom (3-DOF) exoskeleton for lower extremities. 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 .

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2....

Abstract

This paper shows the step by step kinematic and dynamic derivation for three degree of freedom exoskeleton for lower extremities. By using the Denavit Harternberg theorem, the forward and inverse kinematic solutions of the exoskeleton are performed. The Lagrange mathematical statement is utilized which talks about kinetic strength and potential strength amid maneuver. The Anthropometry of the proposed exoskeleton design is computed by using Dempster, Clauser and Chandler method. This outcome can be used in control design for the proposed prototype lower extremities exoskeleton. © 2016 IEEE.

Item Type:Article
Impact Factor:cited By 0
Departments / MOR / COE:Centre of Excellence > Center for Intelligent Signal and Imaging Research
ID Code:20147
Deposited By: Ahmad Suhairi
Deposited On:22 Apr 2018 14:43
Last Modified:22 Apr 2018 14:43

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