Determination of optimum energy level trajectory during swing phase for exoskeleton knee joint

Abstract

Least energy path identification is one of the most challenging part in a exoskeleton design. Least energy trajectory for swing phase is determined by varying knee and hip angles and energy required at knee joint is computed for this trajectory. Video analysis of knee and hip joints is made to compute the energy consumed at knee joint. Simulated results are compared with the video analysis results and show a good agreement. In future these results will be extended to use for stance phase and heel strike.