In this paper we describe the design and evaluation of a passive lower limb assistive exoskeleton based on omnidirectional rehabilitation vehicle. According to the leg dynamics during assisted walking, we optimize the design parameters to make the lower limb obtain the most positive energy. We employ MACCEPA (mechanically adjustable compliance and controllable equilibrium position actuator) in design which generates the constant torque in knee joint. Experiments were performed on injured people and their results verify the system effect in reducing physical power.

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