Dynamic Movement Primitives based Parametric Gait Model for Lower Limb Exoskeleton

Lower limb exoskeleton robot is widely used in clinical rehabilitation training and daily walking for paraplegia patients. However, most of lower extremity exoskeleton products use fixed gait and speed, making them limited in use. Therefore, this paper proposes a parametric gait model for lower limb exoskeleton gait planning, which is based on the dynamic movement primitives method. By learning the characteristics of the sample curves of hip and knee joints at different velocities, the model can output the curve of hip and knee joints under continuous velocity variation. Thus, the lower limb exoskeleton is given an anthropomorphic variable gait which would enhance its dynamic performance and broaden the application scenarios.