Dynamic Reconfiguration of Wearable Exoskeletons for Real-Time Outdoor Mobility Assistance

This study proposes a user-guided reconfigurable flexible lower-limb exoskeleton system, which overcomes the rigidity limitations of traditional exoskeletons through modular architecture and artificial reconfigurable design, enabling dynamic multi-scenario adaptation. The system allows users to manually disassemble and reconfigure hip joint driving units, achieving dynamic switching between hip joint flexion assistance mode and hip joint extension assistance mode within 2030 seconds, with an operational success rate exceeding 90%. Experimental results demonstrate: indoor mode transitions (flexion $\rightarrow$ extension $\rightarrow$ flexion) average 25 seconds, while module locking mechanisms achieve 100% reliability; outdoor tests show that user-driven control significantly enhances terrain matching capability (switching success rate of 90%). Integrated data indicate that the system, through lightweight structures and standardized interface design, is compatible with novel driving modules and supports rapid functional expansion, providing a technical foundation for cross-scenario applications. Future research will focus on mechanical optimization of modular interfaces and the development of user training protocols to improve switching efficiency and fault tolerance, advancing exoskeletons from “passive tools” to “active empowering partners” in human mobility augmentation.