Design of Lower Extremity Exoskeleton Based on Analysis on Special Human Gaits

In order to design a lower extremity exoskeleton suitable for various common gaits, experiment data of normal gait and 5 common special gaits, including unbalanced, ankylosing, short-limbed gaits, as well as gaits at different walking speeds, and gaits under different loads, are analyzed. On that basis, the integrated hydraulic cylinder-tendon sheath drive systems are configured and optimized for each joint of the lower extremity exoskeleton. Then, the dynamic model of the exoskeleton is established and analyzed. The configuration of drive systems enables each exoskeleton joint to meet the kinematic and dynamic characteristics in various common gaits, and the optimization reduces the maximum working speed of each hydraulic cylinder as far as possible on the premise of guaranteeing the drive efficiency. Finally, The performance parameters of the drive system of each exoskeleton joint, such as torque and power, are obtained via dynamics analysis in case that the maximum walking speed isn' tless than 1.3m/s. The designed exoskeleton satisfies the kinematic and dynamic requirements of various common gaits.