A Study of Knee Exoskeleton Configuration Based on Lower Limb Motion Characteristics Analysis

In order to solve poor coordination between the exoskeleton and the human leg, this article analyzed the spatiotemporal characteristics of lower limb motion using data collection from human walking gait experiments. According to the macro- and micro-motion mechanisms of the knee joint, six knee exoskeleton configurations were proposed. Combined with the analysis of gait characteristics, mathematical models for lower limb kinematics and dynamics were established and verified with numerical simulation. Using human–machine coupling simulation experiments, different knee exoskeleton devices were simulated for wear, and a configuration of the exoskeleton mechanism compatible with human knee motion was selected, which improved human–machine adaptability and coordination. This study provides a new method for studying adaptive knee exoskeletons.