Sharif Digital Repository

One of the effective methods for restoring motor abilities in patients with spinal cord injury is the use of lower-limb exoskeleton robots. The design of these robots faces multiple challenges, including the selection of mechanical parameters, control algorithms, and the motion patterns of active joints. The common approach for determining these parameters has been trial and error, which is both costly and time-consuming. Therefore, the use of computational models and numerical simulations has emerged as a more efficient alternative. However, most of the models developed in previous studies have been based on inverse dynamics, meaning that the motion data of the user and the robot were given...