Optimal Trajectory Planning for Human-Like Energy Efficient Motion of Lower Limb Exoskeletons

Motion planning is a critical aspect of lower-limb exoskeleton control. Conventional motion planning approaches compute reference trajectories in task space, leading to infeasible or uncomfortable joint level motions. Conversely, joint space planning methods ensure feasibility but may fail to reproduce natural human gait, limiting their effectiveness in rehabilitation. This paper introduces a novel trajectory planning method that generates human-like gaits while guaranteeing feasible joint paths