On The Kinematic Design Of Anthropomorphic Lower Limb Exoskeletons And Their Matching Movement

The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer's limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series-parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series-parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series-parallel mechanism has a significant improvement in tracing the human positions at the hip joint.