Structural Design of Wearable Lower Extremity Exoskeleton Based on the Human Body Engineering

With the development of science and technology and the progress of the society, the wearable lower extremity exoskeleton robots become more and more popular. In the paper, on the basis of market research and the theory of ergonomics, design sizes of the lower extremity exoskeleton have been determined. Through analysis of the lower exoskeleton structure and movement, the structures of the wearable exoskeleton have been designed. And using Solidworks software, 3D model of the parts of exoskeleton has been drawn and the whole exoskeleton assembly has been completed; through mechanics analysis of the human body each joint, the stress of the three joints have been derived under the static and dynamic condition; Through the calculation of torque and power of each joint, it has been concluded that the maximum torque and maximum power driving the system were 150 Nm and 150 W, respectively.