Kinematic and Dynamic Model Analysis for An Improved Design of Home-Based Wearable Lower Limb Rehabilitation Robot
This paper presents the analysis of the kinematic and dynamic modeling of a wearable lower-limb robot (WLLR) for home-based applications. SOLIDWORKS software was utilized, and the concept of modular configuration was adopted into the design. The Denavit Hartenberg (DH) and geometric methods were e...
Saved in:
Main Authors: | , , , |
---|---|
Format: | Proceeding |
Language: | English |
Published: |
2023
|
Subjects: | |
Online Access: | http://ir.unimas.my/id/eprint/41240/1/Annisa%20Jamali.pdf http://ir.unimas.my/id/eprint/41240/ https://aip.scitation.org/doi/10.1063/5.0110305 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Institution: | Universiti Malaysia Sarawak |
Language: | English |
Summary: | This paper presents the analysis of the kinematic and dynamic modeling of a wearable lower-limb robot
(WLLR) for home-based applications. SOLIDWORKS software was utilized, and the concept of modular configuration
was adopted into the design. The Denavit Hartenberg (DH) and geometric methods were employed to obtain the theoretical
of forward and inverse kinematics models respectively. The Lagrangian formulation of the kinetic and potential energy method
was selected to derive the joint torque equation. For validation, MATLAB Robotic ToolBox was utilized to simulate
forward and inverse kinematic behaviour of the WLLR while MATLAB SimMechanics was used to investigate the
maximum torque for the hip and knee joint in various ranges of motion (ROM) and walking conditions. The results showed
a strong agreement of the simulation and the theoretical model for the forward and inverse kinematic of WLLR. The torque
required for the hip and knee joints in walking conditions was less than the torque required in various ranges of motion. The
maximum torque recorded at the hip and knee in ROM condition is 74.73 Nm and 15.05 Nm respectively while the
maximum torque recorded for the hip and knee in the walking condition is 55.00 Nm and 11.01 Nm respectively. This
analysis is essential as a basis for further actuator selection and control system development. |
---|