Design and experiment of the lower extremity exoskeleton

This paper contains the mechanical and hydraulic system design of the exoskeleton and its electronic control solution. A testing platform was built and systematic researches were conducted in theory, designing, manufacturing, controlling and functioning. Firstly, based on the requirement of the exoskeleton, the mechanical structure of the exoskeleton was designed and hydraulic actuators were chosen to power the hip and knee of the exoskeleton. Force sensors were used to acquire the intention of movement of lower limbs. The result of the research indicates that force sensors is effective in controlling the lower extremity exoskeleton.