Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

作     者：Habib Mohamad Sadjaad Ozgoli Fadi Motawej Habib Mohamad;Sadjaad Ozgoli;Fadi Motawej

作者机构：Department of Electrical and Computer EngineeringTarbiat Modares UniversityTehran14117-13116Iran Department of Mechatronics EngineeringTishreen UniversityLattakia0096341Syria 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2023年第20卷第5期

页      面：2164-2178页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 0710[理学-生物学] 1002[医学-临床医学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

主　　题：Bionic robot Gait planning Optimization Complete paraplegic Lower limb exoskeleton 

摘      要：Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking *** gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the ***,it is vital to have a gait planning method in the joint *** this paper,a minimum-time and minimum-jerk planner is proposed for the robot *** do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the *** minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum *** conditions of the joints are determined to secure backward balance and fulfill gait ***,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.