Research
Mathematic Model and Kinematic Analysis for Robotic Arm
In this paper the mathematic model and kinematics of robotic arm are mainly analyzed. The robotic arm uses the Denavit Hartenberg (D-H) method to determine the parameters with transformation matrices. The direct kinematic analysis was conducted to determine the parameter of robotic arm by using Denavit Hartenberg (D-H) method. The calculated parameters of robotic arm were implemented by direct kinematics and compared with the measured parameter by rotary encoder to determine the accuracy of each parameter.
Design and Simulation of Leg-Exoskeleton Suit for Rehabilitation
In everyday activities, the injuries to lower limb are considered to rehabilitate in urgent priority. The rehabilitation is to restore the patient's physical, sensory, and mental capabilities due to injury, illness, or disease in normal condition. The typical habilitation for lower limb is separated in three types , which ar e active , passiv e and active -assi stive mode. Active mode is one important aspect of rehabilitat ion for increasing or maintaining joint function providing appropriate resistance to the muscles to increase endurance and strength . For passive mode , patients cannot activ ely participate in rehabilitation and no effort is required from them. Patient’s lower limb will be driven by exoskeleton suit. This rehabilitation motion is influenced by bone surfaces within the joint, joint capsule, ligaments, tendons, and muscles acting on the joint. In this paper, the new hardware design is introduced and the possible motions of each joint are simulated. The relative positions of each joint are determined by Denavit- Hartenberg method. In simulation the revolute, speed and acceleration of each joint in left side are studied to construct the real hardware.
