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Kinematics analysis and three-dimensional simulation of the rehabilitation lower extremity exoskeleton robot  
Jiangcheng Chen1,Xiaodong Zhang2,Lei Zhu3
*1, Xi'an Jiaotong University , Email :
2, Xi’an Jiaotong University, Email :
3, Xi’an Jiaotong University, Email :
Abstract .The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D Reappearance of a complete gait was achieved. Finally, the reliability of numerical algorithm of inverse kinematics was verified by the simulation result. All jobs above lay a foundation for developing a three-dimensional simulation platform of exoskeleton robot.
Keywords : Kinematics analysis ; rehabilitation ; extremity exoskeleton robot ; three-dimensional simulation

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