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The optimization results are shown below. The size of the trajectory is scaled down to the size of the prototype (about 1/9.5 of the actual human ankle trajectory).
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Knee Joint Trajectory
After finding the ankle position with the optimization, the knee joint trajectory is found by simply using 2 planar robot mechanism. Once the lengths of thigh and shank are given, the trajectory of knee joint can be calculated by solving the inverse kinematics of the following equation given by
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where pankle,x and pankle,x are the ankle trajectories of x-axis and y-axis, respectively, l1 is the thigh length, l2 is the shank length, θ1 andθ2 are the hip and knee joint angles, respectively (see figure below). The result of the knee joint trajectory is shown below.
