Research and Challenges on the Mechanical Structure of Bionic Lower Limb Exoskeleton Robots

Abstract

Lower-limb exoskeleton is a device, which increases human power and helps movement, whose mechanics influence mechanical design directly in wearing comfort and energy efficiency, yet current exoskeleton generally has issues such as machine matching with human motion and lack of individual adaptability. This paper summarizes the demerits of the mechanical design of exoskeleton robot, analyzes 3 case instances of bio-inspired mechanical structures, and proposes optimization scheme of joint and skeleton design of exoskeleton robot in consideration of bio-inspired. The work concludes that biomimicry can benefit the mechanical structure design of exoskeleton robot. With the advent of embodied intelligence and other new technologies, exoskeleton will inevitably exhibit more intelligent capabilities, be a part of the human’s body, and their mechanical structure concepts would gradually integrate into human motion. By further combining biomimetic concept and adaptive mechanism, future exoskeleton designs will continue to be forward-looking, flexible, lightweight and comfortable, to achieve high fidelity of kinematic and dynamic harmony between humans and machines.