Experiment research of human lower extremity exoskeleton robot

摘要

Exoskeleton robot has become a research hotspot recently, and human lower extremity exoskeleton can be worn on human body, providing protection, assistance or help the recovery of people with lower limbs paralysis. The human lower extremity exoskeleton designed in this paper includes mechanic structure, gait characteristics parameters acquisition system. This paper does some experiment research on exoskeleton robot, designs a wearable mechanic structure that appears similar to and compatible with human. Pressure sensors are set on feet and encoders are set on hip and knee joints, which can detect feet pressure and joint angle translation. The mechanic structure is proven feasible and gait characteristic parameters are collected, which provides a foundation for further research of exoskeleton.