提出了具有7自由度和双球型髋关节的仿人机器人下肢机构。
A new leg mechanism with 7 DOF(degrees of freedom) and double spherical hip joint is proposed in this paper.
本文对外动力式双关节单自由度下肢截瘫步行器的助行机理和设计方法进行了研究，论述了研究截瘫步行器的必要性和可行性。
The principle and designing of a new kind of walking device with two joints of single degree of freedom are presented in this paper.
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