A power-assist lower limb exoskeleton robot with adjustable stiffness joints includes a human-robot information interaction unit, an electronic control unit, an electro-hydraulic servo driving unit and a mechanical structure unit of a lower limb exoskeleton. In the mechanical structure unit of the lower limb exoskeleton, a hip joint and a hip joint connector are connected by a cross hinge mechanism. In combination with a bidirectional hydraulic cylinder, the hip joint of the lower limb exoskeleton fits well with the space structure characteristics of a human hip joint. The unidirectional hydraulic cylinders with spring reduction meets the needs of fast response and large torque during walking and increases walking endurance time. The present invention uses a plantar pressure information collection unit and a waist gyroscope to collect the human gait and gesture information. Besides, it uses a crutch unit to introduce wearer's movement intention into the exoskeleton robot's cooperative control.
Power-assist Lower Limb Exoskeleton Robot with Adjustable Stiffness Joints