Modeling Quasi-static Gait of a Person Wearing Lower Limb Exoskeleton

  • A. YatsunEmail author
  • S. Jatsun
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


The paper presents the results of lower limb assistive exoskeleton walking modeling. The authors consider a new spatial model of human motion in an exoskeleton with 10 electric drives, which allows providing a stable walk with no crutches needed. The kinematics of quasi-static gait in frontal and sagittal plane is discussed taking into account the condition for stability of motion. Various types of trajectories of motion of the foot and a numerical simulation of the gait of the exoskeleton are presented. The trajectories of the center of mass of the walking exoskeleton with time function of each joint angle could be used to design a control system of a walking robot. The obtained results are employable to synthesize a digital control system for walking robots and exoskeletons.


Exoskeleton Quasi-static gait Walking stability Walking robot Analytical scheme Mathematical modeling 



This research was carried out with the support of the Presidential Grant for Young Scientist MК-2701.2017.8.


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Authors and Affiliations

  1. 1.Robotics LaboratorySouth-West State UniversityKurskRussia
  2. 2.Mechanical Engineering Research Institute of the Russian Academy of SciencesMoscowRussia

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