Enhanced Rocker-based Inverted Pendulum Model for Human Dynamic Analysis in Lower Limb Exoskeletons

In response to the problems encountered in the application of exoskeleton gait models, we have established a 2-DOF inverted pendulum kinematics model of human gait in our previous research. Gait and stability control during walking is the most important issue in the design of lower limb exoskeletons. In this paper, we builts a dynamics model of human gait based on the 2-DOF inverted pendulum model. It is demonstrated that roll factor plays an important role in the gait dynamics. The experimental results show that the model and the conclusions are correct, which can provide a good theoretical basis for the optimal gait control and stability control of exoskeleton. In addition, we further discuss the influence of human horizontal acceleration on exoskeleton optimization assistance.