Human Gait Modelling Considerations of Biped Locomotion for Lower Limb Exoskeleton Designs

摘要

The number of links in human's gait model is dependent on factors such as the number of degree of freedoms and the total of actuated joints used in the design. This paper discusses on the modeling consideration of the human gait that related to the design the biped locomotion. Seven types of models are discussed in this paper which suited various biped locomotion design arrangements.