The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

Recent research uncovers that goal directed sensorimotor behaviour is governed by negative feedback of positional error, and by feedforward through inverse modelling of the limb’s dynamics. Thereby, forward models seem to provide the kinematic state of the limb. The question addressed in the paper is, how the neural network representing the inverse model can be trained. Because in this case an ...

Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses well-defined geometric meaning and algebraic structure. S...

Inverse kinematics (IK) is a nonlinear problem that may have multiple solutions. A modified genetic algorithm (GA) for solving the IK of a serial robotic manipulator is presented. The algorithm is capable of finding multiple solutions of the IK through niching methods. Despite the fact that the number and position of solutions in the search space depends on the position and orientation of the e...

The aim of the paper is to study kinematics manipulator. articulated robot with a spherical wrist has been used for this purpose. Comau NM45 Manipulator chosen kinematic model study. manipulator contains six revolution joints. Pieper’s approach employed (inverse) Using approach, inverse problem divided into two small less complex problems. This reduces time analysing kinematically. forward and ...

OBJECTIVE To evaluate the anterior shift of the body's center of gravity (CG) and the associated inertial forces produced by 2 styles of a partial forward lunge. SETTING Gait-analysis laboratory of a research institution. PARTICIPANTS 10 healthy volunteers. INTERVENTION 3 trials of each lunge. MAIN OUTCOME MEASURES Kinematic data were collected, and inertial reaction forces were resolve...

Feed-forward control relies on accurate knowledge about the controlled plant, e.g. models of manipulator kinematics or dynamics. However, for many plants, mechanical models do not capture all aspects of a plant or the plant’s intrinsic properties, e.g. soft materials, do hardly allow for exact and efficient mechanical modeling. In this context, machine learning is a suitable technique to extrac...