Torque Optimization Strategy for Hip and Knee Joint of Passive Lower Limb Exoskeleton*

Passive Lower Limb Exoskeleton (PLLE) have attracted extensive attention because it can help to participate in the application scenarios related to human functions. For the scenario of assisted stair climbing, the exoskeleton should have favorable and assisted torque to improve energy utilization efficiency. This paper studies a genetic algorithm-based auxiliary torque optimization strategy to find the optimal auxiliary torque of the exoskeleton hip joint and knee joint. And the simulation experiment based on the exoskeleton system verifies the effectiveness of the proposed strategy.