Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation

M. A. Zakaria; A. P.P. Abdul Majeed; I. M. Khairuddin; Z. Taha

doi:10.1007/978-981-10-3737-5_36

Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation

M. A. Zakaria^*, A. P.P. Abdul Majeed, I. M. Khairuddin, Z. Taha

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

3 Citations (Scopus)

Abstract

Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation, as well as the geometrical solution approach, are employed to obtain the forward and inverse kinematics of the exoskeleton, respectively. A simulation study is performed to validate the proposed model.

Original language	English
Title of host publication	3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success
Subtitle of host publication	From Theory to Practice, 2016
Editors	Fatimah Ibrahim, Mohd Yazed Ahmad, Jadeera Phaik Geok Cheong, Rizal Razman, Victor S. Selvanayagam, Juliana Usman
Publisher	Springer Verlag
Pages	168-172
Number of pages	5
ISBN (Print)	9789811037368
DOIs	https://doi.org/10.1007/978-981-10-3737-5_36
Publication status	Published - 2017
Externally published	Yes
Event	3rd International Conference on Movement, Health and Exercise, MoHE 2016 - Malacca, Malaysia Duration: 28 Sept 2016 → 30 Sept 2016

Publication series

Name	IFMBE Proceedings
Volume	58
ISSN (Print)	1680-0737

Conference

Conference	3rd International Conference on Movement, Health and Exercise, MoHE 2016
Country/Territory	Malaysia
City	Malacca
Period	28/09/16 → 30/09/16

Keywords

Exoskeleton D-H representation
Exoskeleton forward kinematics
Exoskeleton inverse kinematics
Exoskeleton kinematics
Lower limb kinematics

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10.1007/978-981-10-3737-5_36

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Zakaria, M. A., Abdul Majeed, A. P. P., Khairuddin, I. M., & Taha, Z. (2017). Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation. In F. Ibrahim, M. Y. Ahmad, J. P. G. Cheong, R. Razman, V. S. Selvanayagam, & J. Usman (Eds.), 3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success: From Theory to Practice, 2016 (pp. 168-172). (IFMBE Proceedings; Vol. 58). Springer Verlag. https://doi.org/10.1007/978-981-10-3737-5_36

Zakaria, M. A. ; Abdul Majeed, A. P.P. ; Khairuddin, I. M. et al. / Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation : A preliminary investigation. 3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success: From Theory to Practice, 2016. editor / Fatimah Ibrahim ; Mohd Yazed Ahmad ; Jadeera Phaik Geok Cheong ; Rizal Razman ; Victor S. Selvanayagam ; Juliana Usman. Springer Verlag, 2017. pp. 168-172 (IFMBE Proceedings).

@inproceedings{c93745cfcc9f45b3b24fbe09202ccb65,

title = "Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation",

abstract = "Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation, as well as the geometrical solution approach, are employed to obtain the forward and inverse kinematics of the exoskeleton, respectively. A simulation study is performed to validate the proposed model.",

keywords = "Exoskeleton D-H representation, Exoskeleton forward kinematics, Exoskeleton inverse kinematics, Exoskeleton kinematics, Lower limb kinematics",

author = "Zakaria, {M. A.} and {Abdul Majeed}, {A. P.P.} and Khairuddin, {I. M.} and Z. Taha",

note = "Funding Information: The research is supported by Faculty of Manufacturing Engineering, Universiti Malaysia Pahang, and research university research grant RDU160375. Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2017.; 3rd International Conference on Movement, Health and Exercise, MoHE 2016 ; Conference date: 28-09-2016 Through 30-09-2016",

year = "2017",

doi = "10.1007/978-981-10-3737-5_36",

language = "English",

isbn = "9789811037368",

series = "IFMBE Proceedings",

publisher = "Springer Verlag",

pages = "168--172",

editor = "Fatimah Ibrahim and Ahmad, {Mohd Yazed} and Cheong, {Jadeera Phaik Geok} and Rizal Razman and Selvanayagam, {Victor S.} and Juliana Usman",

booktitle = "3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success",

}

Zakaria, MA, Abdul Majeed, APP, Khairuddin, IM & Taha, Z 2017, Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation. in F Ibrahim, MY Ahmad, JPG Cheong, R Razman, VS Selvanayagam & J Usman (eds), 3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success: From Theory to Practice, 2016. IFMBE Proceedings, vol. 58, Springer Verlag, pp. 168-172, 3rd International Conference on Movement, Health and Exercise, MoHE 2016, Malacca, Malaysia, 28/09/16. https://doi.org/10.1007/978-981-10-3737-5_36

Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation. / Zakaria, M. A.; Abdul Majeed, A. P.P.; Khairuddin, I. M. et al.
3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success: From Theory to Practice, 2016. ed. / Fatimah Ibrahim; Mohd Yazed Ahmad; Jadeera Phaik Geok Cheong; Rizal Razman; Victor S. Selvanayagam; Juliana Usman. Springer Verlag, 2017. p. 168-172 (IFMBE Proceedings; Vol. 58).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation

T2 - 3rd International Conference on Movement, Health and Exercise, MoHE 2016

AU - Zakaria, M. A.

AU - Abdul Majeed, A. P.P.

AU - Khairuddin, I. M.

AU - Taha, Z.

N1 - Funding Information: The research is supported by Faculty of Manufacturing Engineering, Universiti Malaysia Pahang, and research university research grant RDU160375. Publisher Copyright: © Springer Nature Singapore Pte Ltd. 2017.

PY - 2017

Y1 - 2017

N2 - Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation, as well as the geometrical solution approach, are employed to obtain the forward and inverse kinematics of the exoskeleton, respectively. A simulation study is performed to validate the proposed model.

AB - Robotics have been engaged to address the shortcomings of conventional rehabilitation therapy as well as the ever increasing demand for rehabilitation services. This paper presents the kinematics of a 3DoF lower limb exoskeleton restricted to the sagittal plane. The Denavit-Hartenberg representation, as well as the geometrical solution approach, are employed to obtain the forward and inverse kinematics of the exoskeleton, respectively. A simulation study is performed to validate the proposed model.

KW - Exoskeleton D-H representation

KW - Exoskeleton forward kinematics

KW - Exoskeleton inverse kinematics

KW - Exoskeleton kinematics

KW - Lower limb kinematics

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M3 - Conference Proceeding

AN - SCOPUS:85013016912

SN - 9789811037368

T3 - IFMBE Proceedings

SP - 168

EP - 172

BT - 3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success

A2 - Ibrahim, Fatimah

A2 - Ahmad, Mohd Yazed

A2 - Cheong, Jadeera Phaik Geok

A2 - Razman, Rizal

A2 - Selvanayagam, Victor S.

A2 - Usman, Juliana

PB - Springer Verlag

Y2 - 28 September 2016 through 30 September 2016

ER -

Zakaria MA, Abdul Majeed APP, Khairuddin IM, Taha Z. Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation. In Ibrahim F, Ahmad MY, Cheong JPG, Razman R, Selvanayagam VS, Usman J, editors, 3rd International Conference on Movement, Health and Exercise - Engineering Olympic Success: From Theory to Practice, 2016. Springer Verlag. 2017. p. 168-172. (IFMBE Proceedings). doi: 10.1007/978-981-10-3737-5_36

Kinematics analysis of a 3DoF lower limb exoskeleton for gait rehabilitation: A preliminary investigation

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