Lower Limb Movement Analysis for Exoskeleton Design

An approach towards the mathematical model generation of the natural motion of the human lower limb has drawn the attention of researchers' in the field of exoskeleton design. In this present work, the functional relationship between the limb joints and the end-effector of a lower extremity has been incorporated. Rehabilitation requires the knowledge of the connectivity of the joints, links and ultimate body orientation to control the motion of the actuators. The mechanical motions have been manipulated by the information of kinematic equations. The Jacobian matrix has an interaction in the analytical methods, designing and controlling locomotive system development. In this paper, the relevant Jacobian matrix has been formed utilizing the kinematic equation. System stability analysis is involved in determining the zeros of Jacobi polynomial and the corresponding transfer function generation. The initiative of system performance assessment for the lower limb movement is the main focus of this research work.