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.
@article{arxiv.1401.6517,
title = {Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot},
author = {Jiangcheng Chen and Xiaodong Zhang and Lei Zhu},
journal= {arXiv preprint arXiv:1401.6517},
year = {2014}
}
Comments
The international conference on Soft Computing and Software Engineering