Kinematic Analysis of Human Walking in a Rehabilitation Exoskeleton Supported on One Leg

One of the ways to increase the efficiency of rehabilitation systems for patients with disorders of the musculoskeletal system is the use of exoskeletons, which make it possible to ensure the movement of the patient’s lower extremities specified by a rehabilitation doctor according to laws close to a natural gait. To obtain the corresponding regularities, the article developed a method based on the construction of trajectories of the ankle joint (AJ) movement with subsequent synchronous determination of the angles of rotation of the links of the lower limbs based on the numerical solution of the inverse problem of kinematics. It is known that the use of simplified laws of motion of the AJ and feet without taking into account the anthropometric parameters of the patient leads to the formation of an wrong gait and, as a consequence, a significant increase in the patient’s rehabilitation time. Therefore, when constructing a mathematical model of patterns of movement of the ankle joint, it is proposed to use the method of video capture of points-markers selected on the AJ and foot, with subsequent processing and approximation of the received signals using polynomials, which ensures high accuracy of reproduction of movement patterns.