Development of a lower extremity exoskeleton suit actuated by hydraulic

The human exoskeleton suit is an automatic Electro-Mechanical system, which can extend human´s capabilities. UESuit is a complex high degree of man-machine coupling Lower extremity exoskeleton, which can be used to support the payload of human body in walking, going upstairs or downstairs and so on. The key components of this exoskeleton suit include exoskeleton-like framework, perceptive subsystem, controller, actuators, and power supply. This article explain the design and implementation of UESuit, specially focuses on the perceptive subsystem and control subsystem, which are combined to enhance the pilot´s strength and realized assisting the wearer´s walking. Based on foot pressure sensors and the rotary encoders on knee, the gait can be recognized. In control system, the position control loop is built. The control system is designed by frequency domain method using the PID parameters combined with lead correction network. The pattern of multi-threads and shared memory is adopted in the architecture of software system. Test results show that UESuit can realize efficiently walking assistance while carrying 30 kilogram load, as well as up and down stairs.