TY - GEN
T1 - Kinematic Position and Orientation Analysis of a 4 DoF Orthosis for Knee and Ankle Rehabilitation
AU - Ortiz-Zacarias, Jhon R.
AU - Valenzuela-Lino, Yadhira S.
AU - Asto-Evangelista, Joel
AU - Huamanchahua, Deyby
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Nowadays, lower-limb orthoses facilitate various locomotion tasks for rehabilitation therapies that are repetitive and constant. Therefore, this research presents the kinematic analysis of a 4 DoF orthosis for knee and ankle rehabilitation. To obtain the kinematics of the axes, an analysis was performed from the biomechanical point of view, consequently, the Denavit-Hartenberg (D-H) method was used, which consisted of finding a homogeneous transformation matrix, followed by the orientation, position, and Euler angles; furthermore, the open-source software Jupiter (Phyton) was used as a testing tool. The homogeneous transformation matrix was obtained as a result and the simplification of the direct kinematic matrices was achieved. Finally, the direct kinematic analysis for a 4 DoF orthosis was established using the method of position (D-H), orientation, and Euler angles, which were very useful for the research.
AB - Nowadays, lower-limb orthoses facilitate various locomotion tasks for rehabilitation therapies that are repetitive and constant. Therefore, this research presents the kinematic analysis of a 4 DoF orthosis for knee and ankle rehabilitation. To obtain the kinematics of the axes, an analysis was performed from the biomechanical point of view, consequently, the Denavit-Hartenberg (D-H) method was used, which consisted of finding a homogeneous transformation matrix, followed by the orientation, position, and Euler angles; furthermore, the open-source software Jupiter (Phyton) was used as a testing tool. The homogeneous transformation matrix was obtained as a result and the simplification of the direct kinematic matrices was achieved. Finally, the direct kinematic analysis for a 4 DoF orthosis was established using the method of position (D-H), orientation, and Euler angles, which were very useful for the research.
KW - Denavit Hartenberg
KW - Kinematic Analysis
KW - Orthosis
KW - Rehabilitation
UR - http://www.scopus.com/inward/record.url?scp=85124791410&partnerID=8YFLogxK
U2 - 10.1109/ICRAE53653.2021.9657817
DO - 10.1109/ICRAE53653.2021.9657817
M3 - Conference contribution
AN - SCOPUS:85124791410
T3 - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
SP - 141
EP - 146
BT - 2021 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics and Automation Engineering, ICRAE 2021
Y2 - 19 November 2021 through 22 November 2021
ER -