Design and Simulation Analysis of a Passive Energy Storage Assisted Lower Limb Exoskeleton System

To achieve the purpose of relieving the joints pressure of human walking, reducing the joint burden and assisting human walking, this paper proposed a hip-knee coupling passive energy storage assistance exoskeleton design scheme based on the principle of human walking. The hip-knee coupling mechanism was used to achieve discrete knee joint assistance, which was a clutch control method to control knee joint assistance by hip joint motion. In this paper, the effectiveness of this exoskeleton was verified using simulation and experimental validation methods. First, a joint simulation of the human-machine model using Adams was used to verify the theoretical effect of the exoskeleton on the human body assistance. In the actual wearing experiment, the real effectiveness of the exoskeleton was verified by comparing the energy consumption during human movement with and without the exoskeleton. By comparing the simulated and wearing experimental data, it is approved that the exoskeleton can reduce the energy consumption of human movement by 12%-13%.