In this paper, we analyse human gait patterns, including knee and hip joint torques and muscle activities, during step initiation phase and continuous walking phase. Additionally, we present a lower limb exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) implementing a precedence walking assistance mechanism based on the gait characteristics. The operator equipped with the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) walks with a 15 kg load at 3.3 km/h step velocity.
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机译：在本文中，我们在步骤开始期间和连续步行阶段分析人类步态模式，包括膝关节和髋关节扭矩和肌肉活动。此外，我们介绍了一个名为无人技术研究中心外骨骼（UTRCEXO）的下肢外骨骼（UTRCEXO），基于步态特征实施优先的行走辅助机制。配备无人技术研究中心外壳（UTRCEXO）的操作员在3.3 km / h步速度下散步15千克负荷。
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