This study designs a lower limb exoskeleton to assist human running.Combining VICON system and ANYBODY software,the parameters of leg muscles of five healthy men during running are obtained,and the assistance is determined on the Sagittal plane of the hip join.The muscle-tendon unit is simplified into a Hill model.A scheme is proposed where elastic external tendons are combined with the Hill model to drive the exoskeleton,thereby establishing a human-machine coupling model.Quantitative analysis of the parameters is performed to derive their functional relation.The muscle parameters and metabolic consumption are inversely solved by changing the assistance curve.The particle swarm optimization algorithm is employed to determine the optimal stiffness coefficient of the external tendon and the design parameters of the exoskeleton.Experimental results demonstrate that the metabolic energy consumption is reduced by 11.78±1.04％.
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