Design and Development of A Wearable Lower Limb Exoskeleton Robot^*

摘要

Lower limb exoskeleton robot can be used to enhance human body function, rehabilitation training and assist walking. Based on the biomechanical characteristics of human lower limbs, a wearable lower limb exoskeleton robot without auxiliary tools was designed. The mechanism design principle and process of wearable exoskeleton of lower limb are described. The lower extremity exoskeleton assisted walking experiment with and without crutches was performed on healthy subjects. Experimental results showed that the exoskeleton robot could assist human walking without any auxiliary tools, and the design of the lower limb exoskeleton was feasible.