Motion Planning of Assistive Exoskeleton in Human’s Locomotion Rehabilitation

Abstract

Researches on rehabilitation exoskeleton system have bee
 n implementing in recent decades and have been achieving many advantages. However, most of reseaches have focused on more simplified systems such as rehabilitation exoskeleton for one or two joints or for one paralysed leg with the purpose of recovering human’s locomotion pattern. Researches on rehabilitation exoskeleton using for whole two paralysed legs are limited because of the complexity of balance issue for a combined human – exoskeleton system. Therefore, crutches are used to prevent the human from falling during human’s walking in recent researches. In order to abandon the crutches and help to recover human’s nomal walking pattern, the balance problem of combined human-exoskeleton system must be considered in control algorithm. In this paper, we build a motion path for a combined human-exoskeleton ensuring that the combined human-exoskeleton system can move in a balanced area. Our proposed paths are validated in the control algorithm for the HUALEX exoskeleton system in University of Electronic Science and Technology of China (UESTC).