Different Methods of Robotic Motion Planning for Assisting and Training Paralyzed Person

This paper addresses methods to assist and train walking of a paralyzed person using a robot attached to the pelvis. A leg swing motion has been created by moving the hips without contact with the legs. Motion capture data was compared with the results obtained from the dynamic motion optimization. The results would indicate that it could be possible for the robot to create walking gait for assisting and training the paralyzed person.