Human Leg Training Machine Based on The Multi-linkage System

In real life, many people have leg defects. the goal of our work is to design a mechanism which could help them walk based on a specific trajectory and realize flexible walking finally. In this paper, we use a motor to drive a multi-link leg mechanism. The major issues addressed in this paper are as follows: (i) design human leg training mechanism based on the multi-link mechanism (ii) Simulate leg movement trajectory of multi-link mechanism based on walking process (iii) make use of one motor torque control to control the trajectory and velocity of this mechanism.