Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton. Keywords—Dynamic Analysis, Exoskeleton, Kinematic Analysis, Lower Limb, Rehabilitation Robotics

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