Abstract: This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb, which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait training. The rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC ADAMS. For the purposes of lightweight, the exoskeleton mechanism is optimized through finite element analysis. It can be concluded from performance evaluation experiment, the mechanism has certain advantages over existing exoskeleton robots, namely, comfortable, lightweight, low cost, which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

Key words: Wearable rehabilitation robot, Biomechanics, Robot mechanism design, Virtual analysis