中文摘要：

设计了一种可穿戴式的下肢负重外骨骼机器人，它能够为帮助人们助力，助行。介绍了人体各个关节转动需要的自由度。对外骨骼的各个关节进行分析、设计。设计了液压伺服系统，计算了液压缸上需要力的大小。为了验证模型的可行性，将样机穿戴在人体模型上，导入到ADAMS中进行动力学仿真，得到各个关节的转动情况，证明机构的可行性。

英文摘要：

A wearable lower limbs loading exoskeleton robot is designed to assist people in energy-saving and walking.The degrees of freedomfor the human joints to rotate is described.The every joint of the exoskeleton is analyzed and designed.Designed the hydraulic servosystem,and calculated the magnitude of force required on the hydraulic cylinder.To verify the feasibility of the model,put the sample machineon the model of human body,and guide into Adams to do dynamics simulation to obtain the rotary movement of each articular,to testifyfeasibility of the body.