Design and Simulation of Human Lower Extremity Exoskeleton

摘要

A Human Lower Extremity Exoskeleton (HLEE) that integrates human and robotic machines into one system and can augment soldier strength was designed. Through analyzing the function,work principle,construction of HLEE,and probing into the correlative construction characteristics of human lower extremity joint,freedom degree,gait of human based on bionics,the structure of HLEE was designed. The modeling and simulation of HLEE were performed with three-dimensional modeling software Pro/E and kinematic modeling package ADAMS. All these work established the foundation for further research in the future.