Structural Design of Wearable Lower Extremity Exoskeleton Based on
the Human Body Engineering
Chunshan He
1, a
, Liai Pan
2, b
, Qinghua Li
3, c
1,2,3
College of Mechanical and Vehicle Engineering Changchun University, Changchun, 130022,
China
a
email: he03cs@126.com,
b
email: panli636@126.com,
c
email: zhitu@126.com
Keywords: Lower Exoskeleton; Human Body Engineering; 3D Mdeling; Structural Design
Abstract. 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.
1. Introduction
In our country, all kinds of people with disabilities are nearly 90 million, including nearly 30
million limb disabled people, the rest for intelligence, eyesight, hearing and other disabilities. Limb
disabled people who need use artificial limbs are nearly 10 million, nearly 100 million people in
osteoarthritis patients, more than 1 million patients with spinal cord injury. Thus the equipments
demands of the auxiliary or rehabilitation training are great in China.
And with the development of science and technology and the progress of the society, the
wearable lower extremity exoskeleton robots become more and more popular. It is belonging to
been training robot and rehabilitation training robot is a branch of rehabilitation robots, is a kind of
new robots appeared in recent years, is a category of medical robots [1]. At present the study of
lower limb exoskeleton rehabilitation robot mainly included: In the mid1960s, American ge
company cooperating with Cornell university jointly developed a called Hardiman (Human
Augmentation Research and Development study) of the active control exoskeleton body; In the
early 1990s, Japan Kanagawa engineering university successfully developed a wearable power coat;
In 2000, BLEEX power robot has been developed in the university of California, Berkeley. [2][3][4]
In 2002, a series of HAL wearable power robot have been developed in Tsukuba university Japan;
In 2010, REX was developed in New Zealand REXBiotics company, it was the world's first
hands-free, self-supporting and independent control system exoskeleton and so on. Domestic
research started lately, and was still in laboratory research of universities and research institutes.
The research was not only few and there is a great gap compared with foreign technology. Domestic
research mainly included: walking Rehabilitation Training System (Gait Rehabilitation Training
System, GRTS) has been developed in rehabilitation engineering research center, tsinghua
University [5]. A multi degree of freedom of rehabilitation training robot has been developed in
Zhejiang university, other universities were also in the positive research. Although some
achievements have been made, but the complexity, flexibility and exoskeletons movement stability
of the exoskeleton and exoskeleton control accuracy compared with the foreign has certain gap.
In the paper, on the basis of market research, the theory of ergonomics, modern mechanical
design method, and structural design method of bionic personification, the structures of the
wearable lower extremity exoskeleton have been designed to make it meet the use requirements of
3rd International Conference on Mechanical Engineering and Intelligent Systems (ICMEIS 2015)
© 2015. The authors - Published by Atlantis Press
