Abstract
This paper designed a lower limb exoskeleton system for the people who can generate electromyogram functionally. As sitting and standing, rectus femoris generates electromyogram; this system is controlled based on this feature. For ascending and descending, they are separated into stance phase and swing phase. According to feet pressure and electromyogram of rectus femoris and tibialis anterior, we establish an algorithm to estimate motion intention while ascending and descending. This exoskeleton is actuated by four flat EC motors on the wearer’s both knees and hips. Through the rotation of motors, it sends torque to wearer’s knees and hips in order to reduce the strength when sitting, standing, ascending and descending.