This study derives a dimensionless kinematic model using a coordinate transformation matrix to analyze the kinematic characteristics of human lower limb. The lower limb model in this study considers three segments including the thigh, shank and foot, and three joints, namely the hip, knee, ankle and the two extremes of the foot, namely the heel and toe. Based on the dimensionless analysis model ignoring human stature, the kinematic characteristics of lower limb can be described by the relationships of the dimensionless displacements, velocities and accelerations with respect to dimensionless time. The results of an experimental data have shown that dimensionless kinematic characteristics follow the same trends as current gait analysis. This study proposed a dimensionless kinematic model that is capable of analyzing kinematic characteristics of lower limb joints. In the future, this model is anticipated to investigate the dynamics of gait and clinical application.
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