摘要：In this article a study of algorithms for human movement in the lower limbs exoskeleton is presented. Human-machine system is considered, the classification of the existing exoskeletons by type of power distribution, the features of stable motion of the mechanism are presented. The law of the necessary trajectory of the center of mass of the exoskeleton is shown in the sagittal and frontal planes to maintain stability. The synchronous motion scheme of the centre of mass and the foot is described.
