Zihan Pu

Design and Control of a Novel Soft-Rigid Lower Limb Exoskeleton Robot

This paper presents a study on the design and control of a novel soft-rigid lower limb exoskeleton robot. First, based on anatomy, a novel exoskeleton structure design is proposed that applies Curl Pneumatic Artificial Muscles (CPAMs) to lower limb joints to actuate lower limb movement, and transmit…