Exoskeleton robots, as a new type of intelligent wearable device, integrate advanced research findings from fields such as mechanics, control, and ergonomics. They enhance human sensory perception and strength, reinforce physical movement capabilities and endurance, and offer extremely broad application prospects in military, civilian, medical, nursing, and emergency response sectors. This paper analyzes the usage requirements of exoskeleton equipment and the design characteristics of existing equipment, combining ergonomics and kinematics theory to propose design elements and strategies. It introduces topological optimization methods into the design phase of exoskeleton equipment, establishing an intelligent sensing system for exoskeletons. The paper conducts exoskeleton wearing experiments on test subjects, combining dynamics and electromyography analysis to evaluate the effectiveness of the exoskeleton. Human-machine compatibility analysis results show that the walking space of the exoskeleton in the sagittal plane can cover the ankle joint movement trajectory of the human body. Kinematic simulation results indicate that after wearing the exoskeleton, the total joint work done during walking and squatting movements decreased by 20.71% and 17.57%, respectively. Surface electromyography results showed that the distribution patterns of the contribution rates of major lower limb muscles changed to some extent after wearing the exoskeleton, with a significant decrease in the overall integral values.
