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Abstract
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| This papers deal with the direct kinematics analysis of exoskeleton robots for rehabilitation. An alternative methodology to address the direct kinematic problem based on the Screws theory is presented. Then, a Jacobian analysis is performed, and an equivalent model in Simscape Multibody (Simulink) in order to perform further dynamics and control analysis is found, MATLAB as a testing tool and programming language is used. | |
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International
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Si |
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Congress
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2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX) |
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960 |
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Place
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Guatemala |
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Reviewers
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Si |
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ISBN/ISSN
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978-1-7281-0884-1 |
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10.1109/CONCAPANXXXIX47272.2019.8977008 |
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Start Date
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20/11/2019 |
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End Date
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22/11/2019 |
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From page
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1 |
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To page
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6 |
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2019 IEEE 39th Central America and Panama Convention (CONCAPAN XXXIX) |