JOINT REPRESENTATION OF HUMAN WALKING THROUGH THE DIRECT KINEMATICS
November 21, 2012
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Esperanza Camargo, Lely Luengas, Yamid Garzón
This paper shows the representation of human walking from the angles formed in each of the lower extremity joints and the length of each segment during each of the subphases of gait, for hip (flexion, extension , abduction and adduction, medial rotation and lateral rotation), knee (flexion and extension) and ankle (dorsiflexion, plantar flexion, pronation and supination) . To determine the spatial location of each joint is modeled from the Denavit-Hartenberg parameters with the help of MATLAB.
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