TY - GEN
T1 - Kinematics Analysis of a 3DoF Hip Exoskeleton and Workspace Simulation
AU - Huamanchahua, Deyby
AU - Soto Conde, Nick
AU - Vasquez Frias, Jean Carlos
AU - Lopez Meza, Diego
AU - Alvarez-Rodríguez, Angel E.
N1 - Publisher Copyright:
© 2021 ACM.
PY - 2021/12/3
Y1 - 2021/12/3
N2 - This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.
AB - This paper deals with the direct kinematic analysis of a hip exoskeleton with 3 Degrees of Freedom (DoF), to assist users in walking. A methodology based on the Denavit Hartenberg (D-H) convention is presented, in the orientation Euler angles were used. For the calculation the open-source software Jupiter is used as a testing tool, the simulation is performed with Wolfram software. The results obtained will be used for dynamic analysis and mechanical design in subsequent studies.
KW - Denavit-Hartenberg convention
KW - Exoskeleton
KW - Hip
KW - Kinematic analysis
UR - https://www.scopus.com/pages/publications/85132202768
U2 - 10.1145/3518781.3519192
DO - 10.1145/3518781.3519192
M3 - Conference contribution
AN - SCOPUS:85132202768
T3 - ACM International Conference Proceeding Series
SP - 120
EP - 125
BT - Proceedings - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
PB - Association for Computing Machinery
T2 - 2021 International Conference on Mechanical, Aerospace and Automotive Engineering, CMAAE 2021
Y2 - 3 December 2021 through 5 December 2021
ER -