Design and Gait Realization of Power-assisted Lower Limbs Exoskeleton

摘要

Exoskeleton robot is a wearable intelligent device that can enhance human motion function, which has a wide application prospect in military, medical and civil disaster relief fields. As an important branch of exoskeleton, the power-assisted lower limbs exoskeleton has always been a research hotspot in this domain. Based on the study of human lower limbs' kinematics mechanism, a new wearable lower limbs exoskeleton structure is designed and the prototype is made in this paper. Finally, a wearing experiments based on gait data of CGA database is carried out, through which the designed exoskeleton realized the moving gait in the walking cycle.