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.


    Access

    Download


    Export, share and cite



    Title :

    Kinematic Analysis of an Assistive Robotic Leg for Hemiplegic and Hemiparetic Patients


    Contributors:
    M.R. Safizadeh (author) / M. Hussein (author) / K. F. Samat (author) / M.S. Che Kob (author) / M.S. Yaacob (author) / M.Z. Md Zain (author)

    Publication date :

    2010-12-29


    Remarks:

    oai:zenodo.org:1075390



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Hemiplegic Gait Analysis System Based on Kinematic Analysis of Trunk Trajectory

    Nishi, T. / Wada, Y. / Miyake, Y. | British Library Online Contents | 2011


    Rehabilitation training device for hemiplegic patients

    WANG XINTING / ZHANG XUEFEI / SONG LIKUN et al. | European Patent Office | 2020

    Free access

    Toward wearable supernumerary robotic fingers to compensate missing grasping abilities in hemiparetic upper limb

    HUSSAIN, IRFAN / SPAGNOLETTI, GIOVANNI / SALVIETTI, GIONATA et al. | BASE | 2017

    Free access

    Bimanual motor skill learning and robotic assistance for chronic hemiparetic stroke: a randomized controlled trial.

    Yeganeh Doost, Maral / Herman, Benoît / Denis, Adrien et al. | BASE | 2021

    Free access