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Kinematic Analysis of an Assistive Robotic Leg for Hemiplegic and Hemiparetic Patients
Abstract: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.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1075390Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1500
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