This paper presents a novel biped-wheeled-wearable machine, named HANDSHAKE, and obtained by an evolution of two robots presented in other works: one flexible-wheeled leg and one biped-flexible-wheeled robot. A critical design analysis of these two robots helped the author to propose a novel machine able to revolutionize the lower body exoskeletons’ world. Conceptual and functional design, mechanical behavior (kinematics and dynamics), and multibody simulation of the biped-wheeled exoskeleton are presented in this paper, and a first reduced scale prototype is used to show the feasibility of the proposed solution. The simple control architecture used in this work underlines the enormous advantages to use the HANDSHAKE system for people with a complete absence of mobility, which are completely supported by this machine. This is possible thanks to the wheeled feet of the HANDSHAKE system which allow to support more weights respect to the classical exoskeletons, available on market and literature. The proposed machine increases stability, dynamic balance, autonomy, reducing power supply and complexity in comparison with classical exoskeleton systems because the wheeled feet are always in contact with the ground. These advantages, recognized in humanoid robots, may be used also in exoskeletons.

中文翻译：

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握手：人类自主保持的处理系统

本文介绍了一种名为 HANDSHAKE 的新型双足轮可穿戴机器，它是通过其他作品中提出的两种机器人的进化获得的：一个柔性轮腿和一个双足柔性轮机器人。这两个机器人的关键设计分析帮助作者提出了一种能够彻底改变下半身外骨骼世界的新型机器。本文介绍了双足轮外骨骼的概念和功能设计、机械行为（运动学和动力学）和多体仿真，并使用第一个缩小比例的原型来展示所提出解决方案的可行性。这项工作中使用的简单控制架构强调了将 HANDSHAKE 系统用于完全无法移动的人的巨大优势，这台机器完全支持这些人。这是可能的，这要归功于 HANDSHAKE 系统的带轮脚，它允许支持更多的重量，尊重经典外骨骼，可在市场和文献中获得。与经典外骨骼系统相比，所提出的机器增加了稳定性、动态平衡、自主性、减少了电源供应和复杂性，因为带轮的脚总是与地面接触。这些在类人机器人中得到认可的优势也可以用于外骨骼。