Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom. The use of heavy servo-motors to handle torque in active joints results in complex and bulky designs, as highlighted in existing literature. In this study, we introduced a novel synthesis method with analytical solutions provided for synthesizing lower-limb exoskeleton. Additionally, we have incorporated multicriteria optimization by six designing criteria. As a result, we offer several mechanisms, comprising only six links, well-suited to the human anatomical structure, exhibit superior trajectory accuracy, efficient force transmission, satisfactory step height, and having internal transfer segment of the foot.

翻译：典型腿部外骨骼采用开环运动链，电机直接安装在活动关节上；这种设计虽然提供了灵活性，但由于自由度数量过多，导致成本增加和控制复杂度提高。现有文献已指出，使用重型伺服电机处理主动关节扭矩会导致复杂且笨重的设计。在本研究中，我们提出了一种新颖的合成方法，为下肢外骨骼的合成提供了解析解。此外，我们通过六个设计准则纳入了多目标优化。最终，我们提供了若干仅由六个连杆组成的机构，这些机构与人体解剖结构高度契合，具有优异的轨迹精度、高效的力传递、令人满意的步高，且包含足部内部转移段。