To facilitate walking rehabilitation training for individuals with lower limb paralysis, a self-balancing exoskeleton robot with 12 degrees of freedom was conceived. The principal structural design was conducted in line with the biomechanics of the human lower limbs, and a kinematic model was formulated. The stipulated gait was resolved by reverse kinematics in MATLAB to derive the joint angle actuation curves. These curves served as the motive input in ADAMS kinematic simulation experiments, yielding a gait trajectory with an error margin of less than 2 mm compared to the prearranged gait, which is within a reasonable range of deviation. Experiments involving walking with the exoskeleton were also executed. The analysis of the six-axis force sensor data from the sole demonstrated that the ground reaction force curve consistently remained within the bounds of the foot’s support area, substantiating the exoskeleton’s capability for stable ambulation with a load. The simulations and walking experiments together verified the soundness of the exoskeleton’s structural design.

Ming Li

Meng Yin

Xu Chen

Xinyu Wu

Machines

Machines (ISSN 2075-1702) is an international, peer-reviewed journal on machinery and engineering. It publishes research articles, reviews, short communications and letters. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. Full experimental and/or methodical details must be provided. There are, in addition, unique features of this journal:    *manuscripts regarding research proposals and research ideas will be particularly welcomed  *electronic files or software regarding the full details of the calculation and experimental procedure - if unable to be published in a normal way - can be deposited as supplementary material    Subject Areas:  applications of automation,  systems and control engineering,  electronic engineering,  mechanical engineering,  computer engineering,  mechatronics,  robotics,  industrial design,  human-machine-interfaces,  mechanical systems, machines and related components,  machine vision,  history of technology and industrial revolution,  turbo machinery,  machine diagnostics and prognostics (condition monitoring),  machine design.

Machines (ISSN 2075-1702) is an international, peer-reviewed journal focused on machinery and engineering. It publishes research articles, reviews, short communications, and letters. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible, with no restrictions on the length of the papers. Full experimental and/or methodological details must be provided. Additionally, this journal has unique features: * Manuscripts regarding research proposals and ideas are particularly welcomed; * Electronic files or software containing full details of calculations and experimental procedures, if unable to be published in a standard way, can be deposited as supplementary material. Subject areas include applications of automation, systems and control engineering, electronic engineering, mechanical engineering, computer engineering, mechatronics, robotics, industrial design, human-machine interfaces, mechanical systems, machines and related components, machine vision, history of technology and the industrial revolution, turbomachinery, machine diagnostics and prognostics (condition monitoring), and machine design.

《Machines》是一本国际同行评审的期刊，专注于机械和工程领域。期刊接受研究文章、综述、短篇通讯和信件的投稿。我们的目标是鼓励科学家尽可能详细地发布他们的实验和理论结果，论文长度没有限制。要求提供完整的实验和/或方法细节。此外，本期刊还有一些独特的特点：*特别欢迎关于研究提案和研究想法的稿件；*如果无法以正常方式发布的计算和实验过程的完整细节，可以作为补充材料提交电子文件或软件。主题领域包括：自动化应用、系统与控制工程、电子工程、机械工程、计算机工程、机电一体化、机器人技术、工业设计、人机界面、机械系统、机器及相关组件、机器视觉、技术史与工业革命、涡轮机械、机器诊断与预测（状态监测）、机器设计。

Category	Quartile
工程技术	3
工程技术, 工程机械	3
工程技术, 工程电子与电气	4

Structural Design and Experimental Analysis of the Self-Balancing Lower Limb Exoskeleton Robot

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Journal Info

Category	Quartile
ENGINEERING, MECHANICAL	2