Design and preliminary experimental verification of a passive resistance-type lower limb exoskeleton

Abstract

Lower limb resistance training is a widely used method in fitness and rehabilitation training. However, existing methods exhibit certain limitations in meeting the synergistic requirements of lower limb joint coordination during human motion. We proposes a passive resistance-type lower limb exoskeleton design and conducts preliminary experimental validation. The exoskeleton employs single-stage or double-stage cylindrical compression spring mechanisms at the hip, knee, and ankle joints as resistance sources, achieving multi-joint synergistic movement through jaw-like structures and chain-like mechanisms.The paper first introduces the overall design scheme and key component designs of the exoskeleton. Subsequently, finite element analysis is utilized to evaluate the device's safety and reliability, followed by experimental validation under actual loading conditions. Results demonstrate that the exoskeleton enables coordinated multi-joint resistance functionality in the lower limbs while maintaining robust safety and comfort under extreme loads.

Keywords: Multi-joint Coordination, Passive Resistance-type Lower Limb Exoskeleton, Finite Element Analysis.

DOI: 10.54941/ahfe1006355