Kinematic analysis and trajectory generation of six joint lower limb orthotic device

Abstract

Simulation plays an important role in determining the acceptable results of the design. Therefore kinematic analysis is used to find the spatial parameters which are necessary for gait trajectory planning. Kinematic analysis of six joint lower limb exoskeleton device is done here for motion control study of the exoskeleton device. Simulated results show that the spatial parameters are in acceptable limits in accordance with the joint angles variation. It can also be used to decide the heel strike position along with foot pressure sensor. When considering gait disability, this piece of work strengthens our discernment of complex interaction of lower limb joints and the importance of its mechanics.