A passive lower limb power-assisted exoskeleton based on gravitational potential energy locking. A ratchet wheel (18), a pawl (13), a small sprocket (8) and a positioning plate (19) are mounted on a waist rod member (5), wherein a through hole is provided in the positioning plate (19); a swingable position adjusting column body (20) passes through the through hole and is inserted into and mounted in the through hole; a rotating disc (10), a large sprocket (23), a first fixed pulley (11) and a first spring (24) are mounted on a thigh rod member (6); the large sprocket (23) and the small sprocket (8) are connected by means of a chain (9); a first cylinder (26) and a second cylinder (27) are mounted on the rotating disc (10); a foot rod member (16) and a sliding hole rod member (17) are mounted to the lower end of a shank rod member (7) in a hinged manner; the lower end of the first spring (24) is fixed to the thigh rod member (6); the upper end of the first spring (24) is connected to one end of a steel wire rope (15); the other end of the steel wire rope (15) is connected to one end of the sliding hole rod member (17); the upper end the the first spring (24) is connected to one end of a crank connecting rod (14); and the other end of the crank connecting rod (14) and the large sprocket (23) rotate synchronously. Gravitational potential energy during walking can be effectively used for power-assisting a user, thereby improving the coupling between an exoskeleton and human body movement.
PASSIVE LOWER LIMB POWER-ASSISTED EXOSKELETON BASED ON GRAVITATIONAL POTENTIAL ENERGY LOCKING