Kinematics and Trajectory Planning of a 4 DOF Below-Hip Orthosis for Optimizing Gait

The objective of the research study is to evaluate the kinematics and dynamics of a 4 Degrees of Freedom (DOF) orthopedic prototype that is designed to improve lower-limb movement. The kinematic equations for the system are derived to model the movement of the orthosis during normal walking. The optimal trajectory is determined by analyzing the kinematics within the specified constraints to ensure efficient and natural movement. Additionally, Lagrange's formulation is employed for developing the dynamic model, which facilitates a comprehensive analysis of forces and torques. The torque requirements at the hip and knee joints are computed through simulations, and the resulting plots are used to demonstrate the forces required to support different gait phases. These findings provide critical insights for the design and control of advanced orthotic devices to assist in rehabilitation and mobility enhancement.