Structural Design and Experimental Analysis of the Self-Balancing Lower Limb Exoskeleton Robot

To facilitate walking rehabilitation training for individuals with lower limb paralysis, a self-balancing exoskeleton robot with 12 degrees of freedom was conceived. The principal structural design was conducted in line with the biomechanics of the human lower limbs, and a kinematic model was formulated. The stipulated gait was resolved by reverse kinematics in MATLAB to derive the joint angle actuation curves. These curves served as the motive input in ADAMS kinematic simulation experiments, yielding a gait trajectory with an error margin of less than 2 mm compared to the prearranged gait, which is within a reasonable range of deviation. Experiments involving walking with the exoskeleton were also executed. The analysis of the six-axis force sensor data from the sole demonstrated that the ground reaction force curve consistently remained within the bounds of the foot’s support area, substantiating the exoskeleton’s capability for stable ambulation with a load. The simulations and walking experiments together verified the soundness of the exoskeleton’s structural design.