The invention discloses an auxiliary light-weight integrated multi-freedom-degree
lower limb exoskeleton and relates to the field of bionic wearable
exoskeleton robots. The auxiliary light-weight integrated multi-freedom-degree
lower limb exoskeleton comprises a back mounting board, a
waist connection part, a hip bionic structure, a hip joint, a
thigh bionic structure, a
knee joint, a crus bionic structure, an
ankle joint and a foot bionic structure; the
ankle joint is arranged at the edge of the upper surface of the foot bionic structure; the crus bionic structure is fixedly connected with the foot bionic structure; the
thigh bionic structure is installed on the
knee joint at the top of the crus bionic structure; the hip joint is fixedly installed at the upper end of the
thigh bionic structure; the hip bionic structure is fixedly installed at the upper end of the hip joint; the
waist connection part is fixedly connected with the hip bionic structure; and the back mounting board is vertically and fixedly connected with the
waist connection part. Through integration of freedom of degrees of all joints, an active joint drive structure is added, the light-weight structure form enhances the man-
machine safety and wearing comfort under the condition of meeting the load requirements, and the auxiliary effect of the exoskeleton is improved.