Exoskeleton is a wearable power-assisted supporting device that is used to enhance human motion functions such as walking. This research work is an attempt to provide the paraplegic patients with a more stable human-like hands-free walking function. An exoskeleton model for lower extremities, called a Lower Extremity Exoskeleton Robot (LEE Robot), is developed to feature an automatic posture adjustment and walking balance capability. In order to design a better hands free exoskeleton, the advanced modeling, comprehensive analysis and 3D walking simulations for a humanoid bipedal robot are carried out as a basic research to direct the performance improvement and validate the walking stability and posture optimization. The law of balance is also applied in the analysis of kinematics, statics and dynamics to enhance the new exoskeleton design. Moreover, a conceptual framework is proposed and further developed based on the robot differential motion planning and the zero-moment point (ZMP) stability criterion to realize and test for better fall detection, fall protection and fall avoidance when it is walking. The 3D graphical simulation results demonstrate a success for the new exoskeleton design to offer a better hands free and more stable paraplegic walking.

外骨骼是一种可穿戴的动力辅助支撑设备，用于增强诸如步行之类的人体运动功能。这项研究工作是为截瘫患者提供更稳定的类似人的免提步行功能的尝试。开发了一种用于下肢的外骨骼模型，称为“下肢外骨骼机器人”（LEE Robot），具有自动姿势调整和步行平衡功能。为了设计更好的免提外骨骼，对人形双足机器人进行了高级建模，综合分析和3D步行仿真，以此作为基础研究，以指导性能改善并验证步行稳定性和姿势优化。平衡定律还用于运动学，静力学和动力学分析，以增强新的外骨骼设计。此外，基于机器人差动运动计划和零力矩点（ZMP）稳定性准则，提出并进一步开发了一个概念框架，以实现和测试行走时更好的跌倒检测，跌倒保护和避免跌倒。3D图形仿真结果表明，新的外骨骼设计成功实现了更好的免提和更稳定的截瘫步行。