Development of NTU wearable exoskeleton system for assistive technologies

This paper presents a wearable lower extremity exoskeleton (LEE) developed as a platform for research works on enhancement and assistive the ability of human's walking and load carrying. The whole process of the first prototype design is introduced together with the sub-systems, inner/outer exoskeleton, the attached flexible waist and footpad with sensors. Simulation model and feedback control with the ZMP method were established using Adams and Matlab. The ultimate goal of the current research work is to design and control a power assisted system, which integrates human's intellect as the control system for manipulating the wearable power-aided device. The feasibility and initial performance of the designed system are also discussed.