Acta Scientiarum Naturalium Universitatis Pekinensis ›› 2017, Vol. 53 ›› Issue (6): 989-996.DOI: 10.13209/j.0479-8023.2017.056

• Orginal Article •     Next Articles

Design and Implementation of a Lower Extremity Exoskeleton for Walking Assist

Zheng XIE1, Mingjiang WANG1(), Wulong HUANG2, Shanshan YONG2, Xin’an WANG2   

  1. 1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055
    2. Shenzhen Graduate School, Peking University, Shenzhen 518055
  • Received:2016-05-27 Revised:2016-12-25 Online:2017-02-27 Published:2017-11-20


谢峥1, 王明江1(), 黄武龙2, 雍珊珊2, 王新安2   

  1. 1. 哈尔滨工业大学深圳研究生院, 深圳 518055
    2. 北京大学深圳研究生院, 深圳 518055
  • 基金资助:


The weight support manner is proposed to enhance wear comfort of the wearable exoskeleton. The design of one-way clutch with the mechanism of ratchets and pawls reduces the weight of the exoskeleton. In the aspect of control, through gait analysis and the feedback control which is the current PID control in PID mode as the inner ring and the plantar sensor and the seat sensor as the outer loop, it achieves intelligent human-computer interaction. The exoskeleton weighs nearly 12.5 kg. The support is about 10 kg for standing and 3 kg for walking. The battery life is more than 2 hours.

Key words: exoskeleton, walking assist, PID control, clutch


使用体重支撑的方式可以提高行走辅助外骨骼穿戴的舒适性, 设计以棘轮棘爪组合机构为核心的单向离合装置来减轻设备重量。通过对步态的分析, 以转矩模式下的 PID 电流控制为内环, 增加了足底压力传感和座椅传感构成的外环反馈控制, 实现智能化的人机交互过程。最终实现外骨骼重量 12.5 kg, 站立时辅助支撑约10 kg, 行走中平均辅助支撑约 3 kg, 续航时间大于2小时。

关键词: 外骨骼, 行走辅助, PID控制, 离合装置