SCIENCE CHINA Information Sciences, Volume 64 , Issue 3 : 139204(2021) https://doi.org/10.1007/s11432-018-9767-6

Active knee joint exoskeleton for stair ascent augmentation

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  • ReceivedAug 27, 2018
  • AcceptedJan 8, 2019
  • PublishedApr 14, 2020


There is no abstract available for this article.


This work was supported by National Key RD Program of China (Grant Nos. 2018YFB1305400, 2017YFB1302301) and Joint Research Fund (Grant No. U1713201) of NSFC and Shenzhen.


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  • Figure 1

    (Color online) (a) The proposed novel lower extremity exoskeleton with an active knee joint for stair ascent augmentation; (b) mechanical design of the knee joint; (c) moment analysis of the linkage knee joint; (d) inverted pendulum model in the stance phase; (e) evaluation of the exoskeleton during stair climbing.