Review of Trajectory Generation of Exoskeleton Robots

This paper presents a review on the challenges and state of the arts in trajectory generation of exoskeleton robots. The objective of the review is to identify knowledge gaps in trajectory generation in exoskeleton robots for future research in this field. The review is done by categorizing the challenges of the field and investigating the performance of the state of the arts. From the review, challenges in trajectories generation which are trajectory optimization and adaptation to unstructured environment have been elaborated. Following that the state of the arts in the field is presented from the point of view of the off-line, on-line and hybrid trajectory.