A method for setting desired trajectories of movement of an
exoskeleton for enabling movement in a user with a
musculoskeletal disorder, a device for assisting walking in a user and a method for controlling said device enable walking in predetermined
modes of movement in a user with
limited mobility or complete immobility of the lower limbs but
normal functioning of the upper limbs and upper part of the body. The invention enables such users to move with a
gait pattern similar to the
gait pattern of a person without a
musculoskeletal disorder, while also providing the user with the possibility of independently changing movement mode and
gait parameters, such as
stride length,
step height and pace, using a control panel 32. The invention comprises a part worn by the user, which includes a motorized
lower limb exoskeleton 1 equipped with a control device 35, embodied in an on-board controller 85 of the
exoskeleton 1, and a non-worn part, which includes an external computer 86 for a specialized assistant and a
system 43 for determining the parameters of desired trajectories of movement of the exoskeleton 1 in a Cartesian coordinate
system. Control signals for the exoskeleton 1 actuators are generated taking into consideration the
mass and inertial properties of body segments of the user and of elements of the exoskeleton 1, as well as requirements regarding the
quality of control. 3 independent claims and 6 dependent claims, 9 drawings