Design of a Human Lower Limbs Exoskeleton for Biomechanical Energy Harvesting and Assist Walking

摘要

Powered exoskeletons are used to assist walking, but carrying a huge power supply system will bring inconvenience to humans. Passive exoskeletons lack control and accurate energy management. The muscles of the leg work periodically during walking. When the legs are swinging down after they are lifted to the highest point, it is gravity that works on the human body, and it does not require extra energy. Therefore, this article describes a wearable human lower limb energy harvesting and transmission exoskeleton (EHTE) to achieve biomechanical energy during walking; to achieve the energy harvest, management, and migration. The EHTE is mounted on the thigh and the flat spiral springs are used to create the energy from leg swings. The springs periodically store and release energy, to reduce the energy consumed by human muscles, improving walking efficiency. A prototype device is designed to evaluate its performance. The test shows that the EHTE can provide nearly 7 N force for the contralateral ankle joint. The results demonstrate that the EHTE can provide physical support for patients with lower limb dyskinesia and improve their mobility independently.