Development and preliminary study of the NTU lower extremity exoskeleton

Exoskeletons for human performance augmentation are controlled and wearable devices that can increase the speed, strength, and endurance of the operator. To help those who need to travel long distances by feet with heavy loads such as infantry soldiers, we are developing a lower extremity exoskeleton for human performance enhancement at the Nanyang Technological University (NTU). Together with the exoskeleton linkages, an exoskeleton foot is designed to measure the human and the exoskeleton´s ZMP. By using the measured human ZMP and the human leg position signals, the exoskeleton´s ZMP can be modified by trunk compensation. Simulation results are demonstrated and the prototype being developed is introduced