Design Considerations of a Lower Limb Exoskeleton System to Assist walking and Load-Carrying of Infantry Soldiers

摘要: This paper describes the development of a wearable exoskeleton system for lower extremities infantry soldiers and proposes appropriate design criteria based on existing case studies. Because carry variety equipment, interference with equipment additional burden support should be minimized. Recent studies have shown that user only needs to supported in gravitational direction when walking flat terrain; however, active joints are necessary over rough sloped terrain such as mountains. Thus, an underactuated was considered: passive applied hip ankle joints, knee exploit dynamic coupling effect link structure muscular activation patterns is going up down stairs. A prototype developed validated through simple stair-climbing experiment.