A Lower Extremity Exoskeleton System for Walking Assist

摘要

In this paper, we proposed a lower extremity exoskeleton system for the elderly with poor walking ability. By way of supporting the weight, the burden of lower limbs was reduced. We designed a novel mechanical structure for high torque clutch to reduce the exoskeleton weight. Using non-binding manner, the wear convenience was improved. The system got gait details by the plantar pressure sensor. Combining gait analysis, the system control algorithm is based on force feedback control. The motor drive control used the current proportion integration differentiation (PID) feedback control. The prototype weighs 12.5kg. The support is about 10kg for standing and 3kg for walking.