Design of a lower limb exoskeleton including roll actuation to assist walking and standing up

This paper describes the design of the lower limb wearable robot. When we design the wearable exoskeleton robot for rehabilitation, the major issue to be considered is the need for the robot and the patient to act mutually. The movement of the robot should be similar to the human´s movement because they will move at the same time when the human wears the exoskeleton. Therefore, the robot should have the similar number of joint with the human Based on the concept, we developed the lower limb exoskeleton, KUEX-R. KUEX-R was designed to assist a patient who needs help when the patient walks and stands up. Since the degree of freedom that the human need to walk straight is at least five degree of freedoms (DOFs) per a leg, KUEX-R has ten actuated joints including the hip and the ankle roll joints. The location of the actuators and the length of the links were determined based on the wearer´s comfortability.