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Robotic exoskeletons for rehabilitation usually consider only references in the joint-space with cartesian parameters, like step length and foot clearance, as a consequence of the previous. This work solves the inverse kinematics problem through a meta-heuristic stochastic approach, placing step characteristics as the inputs of the problem, rather than the consequence of the joint kinematics and generating feasible joint trajectories to achieve the rehabilitation goal.

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A Metaheuristic Approach for Adaptative Joint-Space Trajectory Generation for Lower-Limb Exoskeletons Based on Step Length and Foot Clearance Requirements

  • 会议论文

  • 发表日期：

    2025年

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  • Juan Carballeira,
  • Julio S. Lora-Millan,
  • Jaime Ramos-Rojas,
  • Antonio J. del-Ama

摘要

Robotic exoskeletons for rehabilitation usually consider only references in the joint-space with cartesian parameters, like step length and foot clearance, as a consequence of the previous. This work solves the inverse kinematics problem through a meta-heuristic stochastic approach, placing step characteristics as the inputs of the problem, rather than the consequence of the joint kinematics and generating feasible joint trajectories to achieve the rehabilitation goal.