Structure Design and Kinematics Analysis of a Novel Unpowered Load-Carrying Lower Extremity Exoskeleton with Parallel Topology

<table class="fixed-width table-group" id="tab1"><tr><td><table class="table"><colgroup><col style="width:5.36em"/><col style="width:5.40em"/><col style="width:4.75em"/><col style="width:4.25em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"><i>K</i><sub><i>1</i></sub></td><td class="align_center"><i>K</i><sub><i>2</i></sub></td><td class="align_center"><i>l</i><sub><i>k2</i></sub></td><td class="align_center"><i>h</i><sub><i>2</i></sub></td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left"><i> 5.1 N/mm</i></td><td class="align_center"><i> 7.0 N/mm</i></td><td class="align_center"><i> 420 mm</i></td><td class="align_center"><i> 28 mm</i></td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr><tr class="table-fn"><td><div><svg height="12.5749pt" id="M34" style="vertical-align:-3.28657pt" version="1.1" viewbox="-0.0498162 -9.28833 12.3403 12.5749" width="12.3403pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z" id="g113-109"></path></g><g transform="matrix(.0091,0,0,-0.0091,3.172,3.132)"><path d="M437 99C412 70 390 53 380 53C369 53 359 64 340 101C317 145 277 235 258 297C287 329 342 380 389 380C406 380 418 376 427 372C431 370 437 372 443 378C453 388 462 405 462 418C462 432 448 449 421 449C375 449 302 385 246 327C217 299 191 274 160 238H158C192 387 225 534 259 682C263 702 264 712 254 712C241 712 188 686 107 677L102 652H133C172 651 177 647 169 607C126 398 81 197 33 -6L39 -12C61 -5 86 2 112 7C122 64 135 122 146 176C156 193 176 213 202 240C227 169 253 105 278 54C303 0 323 -12 344 -12S407 5 454 79L437 99Z" id="g189-108"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.449,3.132)"><path d="M110 500L131 481C160 519 206 572 269 572C345 572 375 524 375 464C375 377 300 293 202 198C135 134 66 75 2 20L1 0H371C390 41 406 81 427 123L404 133C364 76 346 72 291 72H113L270 211C381 309 460 378 460 479C460 575 401 635 304 635C255 635 211 614 174 581L110 500Z" id="g189-243"></path></g></svg>   is the original length of spring 2, and <i>h</i><sub><i>2</i></sub> is the initial compression quantity of spring 2.<br/></div></td></tr></table>

<div>Optimal solution of optimal parameters.</div>

Mathematical Problems in Engineering

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Table 1

Table 1: Structure Design and Kinematics Analysis of a Novel Unpowered Load-Carrying Lower Extremity Exoskeleton with Parallel Topology 