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This paper presents joint space trajectory planning strategy for the legs of 4-DOF parallelogram bipedal robot. The use of two sets of pulley-based parallelogram mechanisms in each leg allows to reduce the number of joint actuators by one in each leg and to keep legs' feet parallel to the horizontal walking surface. By reducing some actuators in the legs design the overall weight, energy consumption...
This paper describes the control architecture for lower limbs rehabilitation robot system and its implementation. The system has exoskeleton structure with 10 DOF (degrees of freedom) and is pneumatically actuated. The control strategy has been specifically designed in order to ensure a proper position control guiding patient's legs along a fixed reference gait pattern. For this purposes Fuzzy controller...
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