Modeling and gait generation of powered lower exoskeleton robot

Exoskeleton robot system is a wearable mechanical device that enhances the power of wearer in various situations, and it has potential to improve human quality of life. In paper a lower exoskeleton system is modeled, and the forward and inverse kinematic are analyzed. On the other hand, we discuss the gait generating and use the zero moment point (ZMP) theory to analyze stability. At last, simulations are carried out to validate the proposed model and gait generating algorithm.