A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification

Figure 2

Mechanical structure of the SIAT exoskeleton robot. A: backpack with controller and battery; B: waist part; C: encoder; D: thigh segment whose length is adjustable; E: baffle of knee joint; F: shank segment whose length is adjustable; G: ankle joint; H: wearable shoes; I: DC motor; J: hip joint; K: baffle of buttock; and L: knee joint.