Dynamic Walking Planning for Gait Rehabilitation Robot

This paper presents a method for walking planning of rehabilitation robot. Firstly, the simple model of four-links robot walking on the treadmill is introduced. Then, the constraints of swing limb tip and hip motion are formulated in terms of coherent physical characteristics of gait and the compatible hip and swing limb tip trajectories are generated by cubic polynomial interpolation. By varying the values of the constraint parameters, it is easy to produce different motion trajectory. Finally, the joint angle profiles are computed according to hip and limb tip trajectories. The effectiveness of the proposed method is confirmed by computer simulation examples and experimental results.