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arXiv · 1401.6517

Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot

Jiangcheng Chen·Xiaodong Zhang·Lei Zhu
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Abstract

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.

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Jiangcheng Chen, Xiaodong Zhang, Lei Zhu. 2014-01-25. Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot. https://arxiv.org/abs/1401.6517

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