Modeling of the Human Lower-Limb Motion, Design and Control of Knee Joint Orthosis

In this paper, the kinematics of a knee joint is considered. A new type of motion components using rotating and sliding links is proposed. On the basis of the given analysis, a simulating model is created and analysis of human lower-limb motion is performed. Simulation results were compared to the real motion measurement and gave a good correlation. The model of an active orthosis is discussed and orthosis controlling system is considered.