Research on Passive Exoskeleton for Human Gait Measurement

In addressing the issue of gait measurement during human exoskeleton use, this paper proposes a method utilizing passive wearable exoskeletons to measure human gait and designs a prototype device for collecting gait curves during various human motion states. Gait measurement experiments were conducted on individuals wearing the exoskeleton while walking with crutches, standing up/sitting down, and ascending/descending stairs. Filtering, fitting, and smoothing processes were applied to the measurement data to obtain motion curves of the hip and knee joints during crutch-assisted walking, standing up/sitting down, and stair ascent/descent. This provides a theoretical foundation for the subsequent control of lower limb rehabilitation exoskeletons.