设计了一种具有辅助士兵承载能力的人机一体化的下肢外骨骼。通过从仿生学角度分析人类下肢关节的结构特点、人类的步态及下肢自由度,并结合下肢外骨骼实现的功能、工作原理、结构组成,设计了其结构。利用CAD软件Pro/E及动力学仿真软件ADAMS对人体及下肢外骨骼进行了建模、仿真。这为进一步研究下肢外骨骼打下了基础。 A human-machine integrated lower extremity exoskeleton that has the bearing capacity of the soldier is designed. By analyzing the structural characteristics of human lower limb joints, human gait and lower limbs freedom from the perspective of bionics, combined with the function, working principle and structure of lower extremity exoskeleton, the structure is designed. The human body and extremity exoskeleton were modeled and simulated with CAD software Pro / E and dynamic simulation software ADAMS. This laid the foundation for further study of lower extremity exoskeleton.