Brief biomechanical analysis on the walking for a lower-limb rehabilitation exoskeleton

This study presents a kinematic and dynamic analysis of human normal walking in order to establish a mathematical model for the control system of a lower-limb exoskeleton for gait rehabilitation. Based on the number of supported legs, the model analysis was divided into two: a serial approach for one supported leg and a parallel approach for two supported legs. The full model consists on a 7-link system with six actuated joints. The kinematic analysis was performed by Denavit-Hartenberg method and the dynamic analysis was obtained by Euler-Lagrange equations. The human body inertial parameters were obtained from previous studies. The references for angles, angular velocities and angular accelerations were obtained by video recording analysis.