Virtual Geometric Model of the Human Lower Limb

Lucian Rusu; Mirela Toth-Taşcău; Cristian Toader-Pasti

doi:10.4028/www.scientific.net/KEM.601.193

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 601Virtual Geometric Model of the Human Lower Limb

Virtual Geometric Model of the Human Lower Limb

Abstract:

The aim of this paper is to develop and validate the mathematical model of the human lower limb based on Denavit-Hartenberg (D-H) robotics convention. The proposed geometric model has 7 degrees of freedom (DOF) (3 DOF in hip joint, 2 DOF in knee joint, and 2 DOF in ankle joint). The fixed reference system was placed in the weight centre of the human body. The input data for the model are the angle variations and anthropometric parameters of the lower limb. The angle variations can be defined or imported from a gait analysis system. The anthropometric parameters were introduced from the literature. The model can be adapted to both left and right lower limb. The geometric model was solved in MATLAB environment. The model validation was individually realized taking into account the normal range of motion (ROM) of each joint.

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Periodical:

Key Engineering Materials (Volume 601)

Pages:

193-196

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.601.193

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Online since:

March 2014

Authors:

Lucian Rusu, Mirela Toth-Taşcău, Cristian Toader-Pasti

Keywords:

Denavit-Hartenberg Convention, Gait Analysis System, Human Lower Limb, Joint Angle, Virtual Model

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