A Weight-Supporting Wearable Robot for Walking Assist

Abstract

To realize an effective and universal walking assist robot, we developed a weight-supporting wearable Human-Machine system, namely exoskeleton. Based on human hinge model and human kinesiology analysis, we designed a novel mechanical structure with body weight supporting. Then, the sensor and actuator units were designed and optimized. Finally, we proposed the control method based on foot plantar pressure and crotch contact force. The prototype experiment results indicated it could relieve user's knee and ankle pressure, thus assisting walking. Mostly, the wearable robot will not inflict restriction on users and is suitable for different movements of people with different height and weight.