Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients

M. R. Safizadeh; M. Hussein; K. F. Samat; M. S. CheKob; M. S. Yaacob; M. Z. MdZain; Y. Sabzehmeidani

Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients

M. R. Safizadeh
, M. Hussein
, K. F. Samat
, M. S. CheKob
, M. S. Yaacob
, M. Z. MdZain
, Y. Sabzehmeidani

Universiti Teknologi Malaysia

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

Abstract

Theaim 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.

Originalsprog	Engelsk
Titel	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10
Publikationsdato	2010
Sider	188-194
ISBN (Trykt)	9789604742516
Status	Udgivet - 2010
Udgivet eksternt	Ja
Begivenhed	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 - Puerto de la Cruz, Tenerife, Spanien Varighed: 30. nov. 2010 → 2. dec. 2010

Konference

Konference	European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10
Land/Område	Spanien
By	Puerto de la Cruz, Tenerife
Periode	30/11/2010 → 02/12/2010

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Citationsformater

Safizadeh, M. R., Hussein, M., Samat, K. F., CheKob, M. S., Yaacob, M. S., MdZain, M. Z., & Sabzehmeidani, Y. (2010). Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients. I European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 (s. 188-194)

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title = "Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients",

abstract = "Theaim 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.",

keywords = "Assistive roboticleg, Cam-follower mechanism, Kinematic analysis, Lower extremity exoskeleton",

author = "Safizadeh, \{M. R.\} and M. Hussein and Samat, \{K. F.\} and CheKob, \{M. S.\} and Yaacob, \{M. S.\} and MdZain, \{M. Z.\} and Y. Sabzehmeidani",

year = "2010",

language = "English",

isbn = "9789604742516",

pages = "188--194",

booktitle = "European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10",

note = "European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10 ; Conference date: 30-11-2010 Through 02-12-2010",

}

Safizadeh, MR, Hussein, M, Samat, KF, CheKob, MS, Yaacob, MS, MdZain, MZ & Sabzehmeidani, Y 2010, Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients. i European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10. s. 188-194, European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10, Puerto de la Cruz, Tenerife, Spanien, 30/11/2010.

Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients. / Safizadeh, M. R.; Hussein, M.; Samat, K. F. et al.
European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10. 2010. s. 188-194.

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

TY - GEN

T1 - Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients

AU - Safizadeh, M. R.

AU - Hussein, M.

AU - Samat, K. F.

AU - CheKob, M. S.

AU - Yaacob, M. S.

AU - MdZain, M. Z.

AU - Sabzehmeidani, Y.

PY - 2010

Y1 - 2010

N2 - Theaim 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.

AB - Theaim 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.

KW - Assistive roboticleg

KW - Cam-follower mechanism

KW - Kinematic analysis

KW - Lower extremity exoskeleton

UR - https://www.scopus.com/pages/publications/79959868002

M3 - Article in proceedings

AN - SCOPUS:79959868002

SN - 9789604742516

SP - 188

EP - 194

BT - European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10

T2 - European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10

Y2 - 30 November 2010 through 2 December 2010

ER -

Safizadeh MR, Hussein M, Samat KF, CheKob MS, Yaacob MS, MdZain MZ et al. Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients. I European Conference of Chemical Engineering, ECCE'10, European Conference of Civil Engineering, ECCIE'10, European Conference of Mechanical Engineering, ECME'10, European Conference of Control, ECC'10. 2010. s. 188-194

Kinematic analysis of an assistive robotic leg for hemiplegic and hemiparetic patients

Abstract

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