Lower Limb Exoskeleton Gait Automation Modelling

The paper deals with the creation of a lower limbs exoskeleton based on the method of decomposition of complex motion of the human lower limb system. This method allows to break down the complex motion of the walking system into simpler components, motion in the sagittal plane and frontal plane, which facilitates the process of exoskeleton control and increases its efficiency. In this research, a prototype exoskeleton capable of realizing spatial motion with high accuracy and coordination was developed. For this purpose, classical approaches of kinematics description, advanced control algorithms based on the principles of feedback and optimal control were used. The experiments conducted and the results analyzed showed significant improvements in user mobility and comfort, as well as prospects for further development of this technology in the field of medical rehabilitation and everyday use.