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Image Search Results
Journal: Sensors (Basel, Switzerland)
Article Title: Mechanical Structure Design and Motion Simulation Analysis of a Lower Limb Exoskeleton Rehabilitation Robot Based on Human-Machine Integration.
doi: 10.3390/s25051611
Figure Lengend Snippet: Figure 8. Inverse kinematics verification: (a) forward kinematics model; (b) inverse kinematics model.
Article Snippet: Sensors 2025, 25, 1611 20 of 32 θ1 = arctan2 ( d2 + d3 + d4,± √ (Px − a1)2 + Py2 − (d2 + d3 + d4)2 ) − arctan2 ( Px − a1, Py ) θ2 = arctan2 ( r,± √ r12 + r22 − r2 ) − arctan2(r1, r2) r1 = 2a3 ( sθ1(Px − a1)− Pycθ1 − a3 ) r2 = 2a3(Pz − d1) r = (sθ1(Px − a1) + a2)2 + cθ1Py2 + (Pz − d1)2 + a32 − a42 − 2sθ1(Px − a1)cθ1Py + 2a2cθ1Py θ3 = arccos (Px − a1) 2 + Py2 + (Pz − d1)2 − 2a1sθ1(Px − a1) + 2a2cθ1Py +a22 − a23 − a24 − (d2 + d3 + d4) 2 2a3a4 θ4 = π 2 − θ2 − θ3 θ5 = −θ1 (21) • Based on
Techniques: