Design optimization of a 4-bar exoskeleton with natural trajectories using unique gait-based synthesis approach

Abstract Strolling is a complex activity that requires the synchronization of brain, anxiety, and muscles, as well rhythmic movement lower limbs. Gait may be abnormal if coordination disrupted. As result, exoskeletons should used to treat it effectively. The connection other systems contained in could mimic behavior human leg. These mechanisms are created utilizing traditional methods. This study proposes new gait-inspired method based on genetic algorithm (GA) for synthesizing four-bar mechanism exoskeletons. For each phase gait, trajectory calculated merged using optimization algorithms. Each passes through 10 precision points, an entirety 20 points 1 gait cycle. problem under consideration, discovered GA outperforms literature techniques. Finally, proposed design limb exoskeleton depicted solid model. Furthermore, generated link-age accurately tracks all transition simulation planned linkage one cycle has been illustrated stick diagram.