Kinematic Analysis of Human Lower Limbs Based on Homogeneous Coordinate Transformation and DH Method

In the structure based on the analysis of the lower limb of the human body, we establish a 7 rod model of human body , and the human lower extremity kinematics equation is built by using the homogeneous coordinate transformation and the D-H method. Then the equations of motion are tested by using MATLAB. It provides a reference for studying the movement of human lower limbs and designing the exoskeleton robot of the lower limb.