%0 Journal Article
	%A M.R. Safizadeh and  M. Hussein and  K. F. Samat and  M.S. Che Kob and  M.S. Yaacob and  M.Z. Md Zain
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 48, 2010
	%T Kinematic Analysis of an Assistive Robotic Leg for Hemiplegic and Hemiparetic Patients
	%U https://publications.waset.org/pdf/10517
	%V 48
	%X The aim of this paper is to present the kinematic
analysis and mechanism design of an assistive robotic leg for
hemiplegic and hemiparetic patients. In this work, the priority is to
design and develop the lightweight, effective and single driver
mechanism on the basis of experimental hip and knee angles- data for
walking speed of 1 km/h. A mechanism of cam-follower with three
links is suggested for this purpose. The kinematic analysis is carried
out and analysed using commercialized MATLAB software based on
the prototype-s links sizes and kinematic relationships. In order to
verify the kinematic analysis of the prototype, kinematic analysis data
are compared with the experimental data. A good agreement between
them proves that the anthropomorphic design of the lower extremity
exoskeleton follows the human walking gait.
	%P 1473 - 1479