To help people with impairment of lower extremity movement regain the ability to stand and walk, and to enhance limb function, this study proposes an anthropomorphic design of an electrically driven, lower-limb exoskeleton rehabilitation robot. The angular range of the robot’s motion was determined according to the characteristics of the targeted lower-limb joints; the robot was given an active–passive anthropomorphic design with 12 degrees of freedom. The multi-degree-of-freedom hip exoskeleton, bionic artificial knee exoskeleton and passive rigid-flexible coupling ankle exoskeleton can assist patients in rehabilitation exercises with better wear comfort and exercise flexibility. A kinetic model of the seven-rod lower-limb exoskeleton rehabilitation robot was built, and data analysis of the dynamically captured motion trajectory was conducted. These provided a theoretical basis for gait planning and the control system of the lower-limb exoskeleton rehabilitation robot. The results show that the lower-limb exoskeleton rehabilitation robot system possesses sound wearing comfort and movement flexibility, and the degree of freedom of movement of the exoskeleton robot matches well with that of human movement. The robot can thus provide effective assistance to patients’ standing and walking rehabilitation training.

Interface and scale effects are the two most important factors which strongly affect the structure and the properties of nano-/micro-crystals under pressure. We conduct an experiment under high pressure in situ alternating current impedance to elucidate the effects of interface on the structure and electrical transport behavior of two ZnSe samples with different sizes obtained by physical grinding. The results show that (i) two different-sized ZnSe samples undergo the same phase transitions from zinc blend to cinnabar-type phase and then to rock salt phase; (ii) the structural transition pressure of the 859-nm ZnSe sample is higher than that of the sample of 478 nm, which indicates the strong scale effect. The pressure induced boundary resistance change is obtained by fitting the impedance spectrum, which shows that the boundary conduction dominates the electrical transport behavior of ZnSe in the whole experimental pressure range. By comparing the impedance spectra of two different-sized ZnSe samples at high pressure, we find that the resistance of the 478-nm ZnSe sample is lower than that of the 859-nm sample, which illustrates that the sample with smaller particle size has more defects which are due to physical grinding.