The present paper is oriented to individuals with paraplegia as a result of spinal cord injury (SCI) and lost motion mobility.
The aim of this research is to retrieve some degree of legged mobility to those people. The paper investigates the development
of kinematic and dynamic models for the leg. Modeling and simulation of the system under investigation is implemented and
evaluated using MATLAB/SIMULINK®. Practical results obtained from the developed lower limb model are compared with their
counter parts of normal gait pattern. It is shown that the obtained results have validated the proposed approach. Both practical and
simulation results have demonstrated the stability of the proposed control approach. It is believed that the proposed approach will
help to establish an integrated system which emulates as accurately as possible the normal gait of human.