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JSME international journal series C, 2003, 46(3): 923–930. [26] FONTANA M, VERTECHY R, MARCHESCHI S, et al. The body extender: a full-body exoskeleton for the transport and handling of heavy loads[J]. IEEE robotics & automation magazine, 2014, 21(4): 34–44. [27] LUCCHESI N, MARCHESCHI S, BORELLI L, et al. An approach to the design of fully actuated body extenders for material handling[C]//Proceedings of the 19th International Symposium in Robot and Human Interactive Communication. Viareggio, Italy, 2010: 482–487. [28] MARCHESCHI S, SALSEDO F, FONTANA M, et al. Body extender: whole body exoskeleton for human power augmentation[C]//Proceedings of 2011 IEEE International Conference on Robotics and Automation. Shanghai, China, 2011: 611–616. [29] LIU Xiaopeng, LOW K H, YU Haoyong. Development of a lower extremity exoskeleton for human performance enhancement[C]//Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai, Japan, 2005: 3889–3894. [30] LOW K H, LIU Xiaopeng, YU Haoyong. Development of NTU wearable exoskeleton system for assistive technolo- [31] ·886· 智 能 系 统 学 报 第 13 卷