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<p>Passive Lower-Limb Exoskeletons (PLLEs) have emerged as a frontier in the fields of assistive locomotion and rehabilitation robotics due to their significant advantages in biomechanical compatibility, energy efficiency, and system lightweight design. This paper systematically classifies and reviews the research progress on PLLEs over recent decades, focusing on the mechanical power transmission mechanisms and system architectures for locomotion-load assistance. By utilizing a bio-inspired evaluation framework based on human lower-limb load regulation mechanisms, the study addresses the limitations of exoskeleton assistance performance. It highlights the significant impact of human–machine locomotion coupling effects on stress distribution in lower limb joints and the collaboration between humans and exoskeletons, which hinders their application in rehabilitation and prevention. The study proposes an integrated continuous metamorphic mechanism in a biomimetic design to enhance human–machine cooperation of PLLEs by achieving passive compliant dynamic responses aligned with lower limb biomechanics. Two potential research directions are then suggested: I. Bio-kinematic dimensional synthesis of PLLEs considering wearable uncertainties for workspace dexterity and accommodation pre-metamorphosis; II. Bio-dimensional synthesis based on PLLEs' rigid-flexible coupled dynamics for axial impact buffering control during metamorphic process of lower limbs.</p>

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Progress and Perspectives on Biomimetic Design of Human Load Regulation Mechanisms for Passive Lower-limb Exoskeletons: A Design Outlook for Continuous Metamorphic Biomimetic Mechanisms

  • 期刊论文

  • 发表日期：

    2026年7月21日

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  • Qian Li,
  • Junchao Zhao,
  • Yulu Jiang,
  • Longyang Du,
  • Maorong Liu,
  • Yuwei Yang

摘要

Passive Lower-Limb Exoskeletons (PLLEs) have emerged as a frontier in the fields of assistive locomotion and rehabilitation robotics due to their significant advantages in biomechanical compatibility, energy efficiency, and system lightweight design. This paper systematically classifies and reviews the research progress on PLLEs over recent decades, focusing on the mechanical power transmission mechanisms and system architectures for locomotion-load assistance. By utilizing a bio-inspired evaluation framework based on human lower-limb load regulation mechanisms, the study addresses the limitations of exoskeleton assistance performance. It highlights the significant impact of human–machine locomotion coupling effects on stress distribution in lower limb joints and the collaboration between humans and exoskeletons, which hinders their application in rehabilitation and prevention. The study proposes an integrated continuous metamorphic mechanism in a biomimetic design to enhance human–machine cooperation of PLLEs by achieving passive compliant dynamic responses aligned with lower limb biomechanics. Two potential research directions are then suggested: I. Bio-kinematic dimensional synthesis of PLLEs considering wearable uncertainties for workspace dexterity and accommodation pre-metamorphosis; II. Bio-dimensional synthesis based on PLLEs' rigid-flexible coupled dynamics for axial impact buffering control during metamorphic process of lower limbs.