Determination of Knee and Ankle Trajectories and Synthesis of Four-Bar Linkage for Rehabilitation

In movement-dependent control applications like rehabilitation, real-time gait cycle identification is essential to develop any supporting mechanism. In this paper, ten healthy subjects are considered to analyze the gait, and trajectories have been determined and compared. Video recording and passive markers-based technique have been implemented. Gait cycles for healthy subjects have been extracted from Kinovea software and comparison has been made among all the detected trajectories to draw the range of trajectories. The average curves for knee and ankle trajectories have been found to synthesize a four-bar mechanism. This synthesis problem is formulated for the knee trajectories that support the whole gait cycle while walking on horizontal plane.