Joint Trajectory Generation and Control for Overground Robot-based Gait Rehabilitation System MOPASS

Abstract

Robotic gait rehabilitation systems have appeared in the last fifteen years as an alternative to traditional physiotherapy, offering tireless and precise performance. This paper presents the design of MOPASS, a robotic system for overground gait rehabilitation. Additionally, it presents the gait trajectory generator for hip and knee motion in sagittal plane that was implemented in the system. This generator creates healthy-like gait patterns based on extrema (or inflexion) points characteristic of each joint curve. Finally, the motion controllers designed for the active joints of MOPASS are presented.