Optimization of Joint Space Trajectories for Assistive Lower Limb Exoskeleton Robots: Real-Time and Flexible Gait Patterns

Abstract This research focuses on designing a real-time, flexible gait planner for lower limb exoskeleton robots to assist patients with lower limb disabilities. Given the dynamic nature of gait parameters, which vary according to ground conditions and user intent, the challenge lies in developing a gait planner capable of adapting to these changes in real-time. To avoid planning complications in the cartesian space and to comply with the speed constraints of joint motors, this paper proposes planning in joint space. Furthermore, the approach also considers the maximum speed capabilities of the joint motors, aiming to generate an executable gait pattern and simultaneously enhance the robot’s walking speed by determining the minimum time required for implementation. The introduced gait planner optimizes joint trajectories for minimal angular acceleration. To provide flexibility, generalized boundary conditions suitable for different scenarios are defined. The effectiveness of the proposed planner is validated through comprehensive performance analysis, simulations, and successful implementation trials on the Exoped ® robot in various scenarios.