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. As a conventional mobile assistance device, a wheelchair makes people sufferfrom skin injuries such as bed sores and ulcer, owing to sitting on awheelchair for a long period. And the wheelchair is barely able to adapt tocomplex terrains, such as stairs. With the development of robotic technology,the rise of lower-limb exoskeleton robotics provides a new means of motionassistance, and provides training of motor ability. However, it can't supporta user to compete long-distance movement because a user need consume muchenergy to keep balance. Considering the merits and demerits of wheelchairsand exoskeletons, we propose a novel hybrid motion assistant robot thatcombines both. The biggest challenge is the design of a mechanism that cantransform the robot from a wheelchair into an exoskeleton, as well as thereverse transformation. To achieve this goal, the mechanism must be able toachieve three configurations: the wheelchair configuration, the supportconfiguration, and the exoskeleton configuration. To reduce the weight of therobot and make it more compact, the linkages and actuators in the mechanismare designed to be reusable when the configuration changes. The mechanism isdesigned based on the analysis of functional requirements, and distributedsynthesis of the mechanism is adopted. The kinematics and statics of everyconfiguration are discussed in detail, to obtain the most reasonabledimensions using the particle swarm optimization algorithm. The mechanismperformance is simulated and verified using ADAMS software. Finally, anexperimental prototype is constructed for preliminary tests.

Mechanism design and analysis of a proposed wheelchair-exoskeleton hybrid robot for assisting human movement