%T Dynamic analysis of three degree of freedom (3-DOF) exoskeleton for lower extremities
%I Institute of Electrical and Electronics Engineers Inc.
%A M.Z.F. Mohd Zawawi
%A I. Elamvazuthi
%A A.A. Aziz
%A S.F. Mazlan
%A K.N. Ku Abd Rahim
%X 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.
%K Degrees of freedom (mechanics); Dynamic analysis; Inverse kinematics; Inverse problems; Kinematics; Manufacture; Robotics, 3-DOF; Antropometry; Body segment parameters; Forward and inverse kinematics; Lower extremity; Mathematical statement; Three degree of freedoms; Three-degree-of-freedom (3-DOF), Exoskeleton (Robotics)
%D 2017
%R 10.1109/ROMA.2016.7847834
%O cited By 1; Conference of 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016 ; Conference Date: 25 September 2016 Through 27 September 2016; Conference Code:126431
%J 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation, ROMA 2016
%L scholars8857