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Lower extremity exoskeleton a motion assistive technology, has been developed in recent years. Generation of gait pattern is a fundamental topic in design of these robots. A usual approach in most of exoskeletons is to use a pre-recorded pattern used as look up table. There are some deficiencies in this method, including data storage limitation and poor regulation according to walking parameters. Therefore, it is required to modeling human walking pattern to use in exoskeletons. There are simple models for walking of healthy person and humanoid robots. Nevertheless, using these models may cause injury to joints of the patient or damage to robot motors due to physical limitation of the user’s body. In this paper, the physical limitations are represented as mathematical constraints. Considering these constraints, appropriate models are proposed for position of the joints. Then, inverse kinematics equations are used to generate joints angles. In this work, the model parameters consist of stride length and height, walking speed and length of user thigh and shin. The performance of the model is evaluated by implementing on Exoped robot. Satisfaction and convenience of the users demonstrates the good performance of the model.

Keywords: Exoskeleton, Human Gait, Biped Robot, Control.

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