Abstract
The rotation angles and angular velocities of the lower limb joints during normal walking were detected by the gait detection system. The rotation speeds of bilateral motors were planned based the kinematics and gait analysis to ensure the footplates movement be accorded with normal gait during overground walking. Finally, MATLAB simulation was provided to verify the efiectiveness of the planned speed function of the crank. The simulation results show that the change characteristics and trends of the planned curves are approximately consistent with normal gait features, which lay the foundation for further experimental studies of the robot prototype.
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