Abstract
The walking procedure of the human on slope terrain was captured with a high-speed video camera. The geometrical configurations and motion postures of the human walking on slope terrain were analyzed from the high-speed photographs. Based on the biological observation, a dynamic model was put forward to aid the design of the exoskeleton robot. The hip angle, knee angle, hip moment and knee moment of the exoskeleton robot during walking on slope terrain were shown in figures. The results would provide some theoretical and practical references for the biomimetic design of the exoskeleton robot. This work may provide the basic theory in developing the structural design of the exoskeleton robot to help old people. Besides, it provides an important reference to study the other exoskeleton robots.
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