Trajectory Planning For Exoskeleton Robot By Using Cubic And Quintic Polynomial Equation

This paper present the trajectory generation for the knee joint. The study of human walking cycle uses quintic polynomial equation and cubic polynomial equation. The walking cycle is divided into eight sub-phases gaits. In this paper, we are using the quantic and cubic equation in order to generate the same profile as the normal human walking for position, velocity and acceleration. The generated signal will be used to control a device to duplicate and copy the knee movement for a normal person during walking. Then a comparison between the real data of human walking and the data gained from the quantic and cubic equations during the phases of the gait walking cycle will be shown in graphs using matlab.

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