An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning
Raffaele Giannattasio,Stefano Maludrottu,Gaia Zinni,Elena De Momi,Matteo Laffranchi,Lorenzo De Michieli,Raffaele Giannattasio,Stefano Maludrottu,Gaia Zinni,Elena De Momi,Matteo Laffranchi,Lorenzo De Michieli
This paper presents a method to compute smooth ankle trajectories for lower limb exoskeletons with powered ankle joints. The proposed approach defines ankle trajectories using four polynomial functions, each representing one of the four primary phases of gait. These polynomials are computed according to different safety constraints. During the single support phase, ground contact constraints are e...
