《Table 3 Range of motions (ROMs) of joints》

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《Development of a novel autonomous lower extremity exoskeleton robot for walking assistance》

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Auto-LEE is a humanlike exoskeleton robot，and it is placed parallel to the wearer’s limb when it operates.To achieve kinematic compliance and avoid interfering with natural movements，each joint center should be aligned with that of the lower limb，which means that the joint distribution，ROM，and dimension parameters of the exoskeleton should be determined by biomechanical properties.The vital human dimension parameters are shown in Fig.1b，and the reference values of Chinese adults are listed in Table 1（Protection and Labour，1988）.Then the values of the Auto-LEE dimension parameters，listed in Table 2，are determined according to these data.To adapt to different body sizes，the waist，shank，and thigh dimension parameters are adjustable.Table 3 and Fig.2 show the reference ROMs of the human joints（Gao，2004），and the ROMs of the exoskeleton joints are determined by these values.