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Kinematics and Dynamics of Wearable Robots
Abstract
This chapter contains sections titled: Introduction Robot mechanics: motion equations Human biomechanics Kinematic redundancy in exoskeleton systems Case Study: a biomimetic, kinematically compliant knee joint modelled by a four-bar linkage Case Study: design of a forearm pronation–supination joint in an upper limb exoskeleton Case Study: study of tremor characteristics based on a biomechanical model of the upper limb References
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The main functions of human ankle joints during walking are body weight support and propulsion.
“This is because the main functions of human ankle joints during walking are body weight support and propulsion [42].”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [42]
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Cited by 24
Metadata
- Authors
- Forner‐Cordero, A., Pons, J. L., Turowska, E. A., Schiele, A., Baydal‐Bertomeu, J. M., Garrido, D., Mollá, F., Belda‐lois, J. M., Poveda, R., Barberá, R., & Rocon, E.
- Affiliations
- Consejo Superior de Investigaciones Científicas (ES)
- European Space Agency (FR)
- Biomechanics Institute of Valencia (ES)
- Venue
- Wearable Robots
- Publisher
- Wiley
- Published
- 2008-02-15
- Pages
- 47-85
- OpenAlex
- W1490571058
- Cited by
- 24
- References
- 0
- Citations by year
- 2024: 3 · 2023: 2 · 2022: 2 · 2019: 6 · 2018: 4 · 2017: 1 · 2015: 4 · 2013: 1 · 2012: 1
- Type
- other
- Language
- en
- Open access
- closed
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- wearable robotics, exoskeleton, robot kinematics, robot dynamics, human biomechanics, kinematic redundancy, four-bar linkage, knee joint model, forearm rotation, upper limb exoskeleton, tremor, biomechanical modeling
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