M. H. Korayem - Professor of Mechanical Engineering is with the Iran University of science and Technology, Farjam, Narmak, Tehran, Iran
M Navidbakhsh - Assistant Professor of Biomechanical Engineering is with the Iran University of science and Technology, Farjam, Narmak, Tehran, Iran
Y Habibyar - University of science and Technology, Farjam, Narmak, Tehran, Iran, (corresponding author)
M Hashemi - University of science and Technology, Farjam, Narmak, Tehran, Iran,

this paper presents a method for synthesizing the joint profiles for a 7 DOFs planar multi-segment human model, walking on a flat ground. Both single support and double support phases are considered. The joint profiles have been determined based on constraint equations cast in terms of step length, step period, maximum step height and so on. A special foot model is presented to make the model much similar to human being. Other advantages of our joint profiles include system stability during double support phase and repeatability of gait. The effectiveness of the proposed method is demonstrated using the real human gait data and the comparison showed the close resemblance of joint profiles of robotic model and human gait.