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Recently, the lower limb exoskeletons which providemobility for paraplegicpatients to support their daily life havedrawn much attention. However, thepilots are required to applyexcessive force through a pair of crutches tomaintain balanceduring walking. This paper proposes a novel gaittrajectorygeneration algorithm for exoskeleton locomotion on flat groundandstair which aims to minimize the force applied by the pilotwithout increasingthe degree of freedom (DoF) of the system.First, the system is modelled as afive-link mechanism dynam-ically for torque computing. Then, an optimizationapproachis used to generate the trajectory minimizing the ankle torquewhich iscorrelated to the supporting force. Finally, experimentis conducted to comparethe different gait generation algorithmsthrough measurement of ground reactionforce (GRF) appliedon the crutches

Upper Extremity Load Reduction for Lower LimbExoskeleton Trajectory Generation Using AnkleTorque Minimization