本文主要針對下肢能正常產生肌電訊號者，設計一套由肌電訊號作為回授之人體下肢輔具。利用人在起立及坐下時大腿股直肌產生肌電訊號的特性，計算穿戴者動作肌電訊號以及所需要支撐之重量，作為輔具在起立及坐下時馬達電流控制的依據。其次在上下樓梯時，下肢動作分為支撐期與擺盪期，根據足底壓力、股直肌與脛前肌肌電訊號的特性，建立一套上樓梯與下樓梯動作意向偵測方程式。
輔具為外骨骼狀穿戴於下肢外側，於膝關節及髖關節分別裝置無刷馬達作為致動器，藉由馬達轉動帶動輔具進而提供穿戴者適當的輔助力量，使穿戴者在進行起立坐下及上下樓梯的動作時能減少出力，以達到輔助之目的。

This paper designed a lower limb exoskeleton system for the people who can generate electromyogram functionally. As sitting and standing, rectus femoris generates electromyogram; this system is controlled based on this feature. For ascending and descending, they are separated into stance phase and swing phase. According to feet pressure and electromyogram of rectus femoris and tibialis anterior, we establish an algorithm to estimate motion intention while ascending and descending.
This exoskeleton is actuated by four flat EC motors on the wearer’s both knees and hips. Through the rotation of motors, it sends torque to wearer’s knees and hips in order to reduce the strength when sitting, standing, ascending and descending.

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