Design and Kinematics Analysis of a Lower Limb Exoskeleton Robot

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 527)


The lower limb exoskeleton robot is a new technique of rehabilitation training for lower limb dysfunction, which is paid more and more attention by people. Because the lower limb exoskeleton robot is relatively heavy all over the world, this article designs a new lower limb exoskeleton robot whose hip joint is driven by motor and other joints are unpowered. It effectively reduces the lower limb exoskeleton robot’s weight. The kinematics equation of exoskeleton robot is established by D-H coordinate system, and the correctness of kinematics equation is verified with combining simulation by MATLAB and SolidWorks software. The end coordinate data calculated by kinematics equation is used as a contrast to test, and a good walking effect is achieved.


Lower limb exoskeleton robot Kinematics analysis Rehabilitation SolidWorks 



The work reported in this paper is supported by National Natural Science Foundation of China, number: 61473193 and Shanghai Engineering Research Center of Assistive Devices, number: 15DZ2251700.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Institute of Rehabilitation Engineering and TechnologyUniversity of Shanghai for Science and TechnologyShanghaiPeople’s Republic of China
  2. 2.Shanghai University of Medicine & Health SciencesShanghaiPeople’s Republic of China
  3. 3.Shanghai Engineering Research Center of Assistive DevicesShanghaiPeople’s Republic of China
  4. 4.Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil AffairsShanghaiPeople’s Republic of China

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