(Rinderknecht et al), employed a model-free approach and assistance was about the hip joint level without considering rehabilitation. This approach is model based and the possibility of assisting and rehabilitating patient with reduced lower limb motor function at the knee and ankle level simultaneously was investigated. Hence, the dynamics of equation of motion of the two links, which was coupled via AFO while, introducing the non-sinusoidal trajectories that could be followed by the wearer. One of the aims of the thesis is to mathematically show the ideology conceived which does serve as the contribution of this
(Rinderknecht et al), employed a model-free approach and assistance was about the hip joint level without considering rehabilitation. This approach is model based and the possibility of assisting and rehabilitating patient with reduced lower limb motor function at the knee and ankle level simultaneously was investigated. Hence, the dynamics of equation of motion of the two links, which was coupled via AFO while, introducing the non-sinusoidal trajectories that could be followed by the wearer. One of the aims of the thesis is to mathematically show the ideology conceived which does serve as the contribution of this