Abstract:Walking assistance exoskeleton robots are able to assist the people with lower limb dyskinesia to stand and walk upright. However, they have shortcomings in locomotion distance and speed compared with the electric wheelchair. A deformable walking assistance exoskeleton robot is designed, which has two independent forms of walking assistance exoskeleton and electric wheelchair that can be converted to each other. Aiming at the two motion processes of deformation and walking, the static stabilityoriented motion planning for the system is studied. The deformation principle of the deformable walking assistance exoskeleton robot is introduced. The motion planning method based on the projection point of the center of gravity (CoG) of the system is proposed. Moreover, the static stability of the exoskeleton robot during deformation and walking processes is analyzed. The deformation and walking motion experiments of a healthy subject wearing the exoskeleton were conducted. The stability margins in the deformation and walking experiments are greater than 54 mm and 20 mm, respectively. Experiment results demonstrate that the designed deformable walking assistance exoskeleton robot can achieve stable and reliable deformation switching and continuous walking utilizing the proposed static stabilityoriented motion planning method.