Calculating the joint parameters values which place the end effector of a manipulator to the
given (desired) Cartesian position is called the inverse kinematics solution. The Human leg …

This paper proposes a separate quintic polynomial trajectory for each sub phase of gait
cycle to achieve smooth human-like walking. A biped robot with active hip, knee and ankle …

Trajectory is a crucial part of exoskeleton robot design. The appropriate trajectory will affect
wearer's safety, health and comfort. The trajectory profile of angular position can be …

Many methods have been developed in trajectory planning in order to achieve smooth and
accurate motion with considering the constraints of kinematics constraints such as angular …

During the aging process, the elderly can experience a progressive and definitive
deterioration in their gait, especially when they have neurological disorders such as …

This paper presents a hybrid adaptive fuzzy control of bio-robotic leg. A mathematical
dynamic model of bio-robotic leg having three links ie thigh, shank and foot is considered …

This paper presents an optimal control of bio-robotic leg for human-like walking. A
mathematical dynamic model of bio-robotic leg having three links ie thigh, shank and foot is …