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Considering the feature information of different obstacles and the distance between obstacles and robots, a trajectory planning method based on direct point matching was used to generate offline adjusted gait trajectory libraries and obstacle-crossing gait trajectory libraries. A lower limb exoskeleton robot obstacle-crossing motion decision-making algorithm based on obstacle feature information is proposed by combining gait constraints and motion constraints, enabling it to select appropriate motion trajectories in the trajectory library. The proposed obstacle-crossing-motion method was validated at three distances between the obstacle and the robot and with the feature information of four obstacles. The experimental results show that the proposed method can select appropriate trajectories from the trajectory library based on the detected obstacle feature information and can safely complete obstacle-crossing motions.<\/jats:p>","DOI":"10.3390\/biomimetics10050311","type":"journal-article","created":{"date-parts":[[2025,5,12]],"date-time":"2025-05-12T09:13:38Z","timestamp":1747041218000},"page":"311","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Obstacle Feature Information-Based Motion Decision-Making Method for Obstacle-Crossing Motions in Lower Limb Exoskeleton Robots"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9178-1372","authenticated-orcid":false,"given":"Yuepeng","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Sino-German Robotics, Shenzhen Institute of Information Technology, Shenzhen 518172, China"},{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5595-7155","authenticated-orcid":false,"given":"Guangzhong","family":"Cao","sequence":"additional","affiliation":[{"name":"Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots, Shenzhen University, Shenzhen 518060, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Sino-German Robotics, Shenzhen Institute of Information Technology, Shenzhen 518172, China"},{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Sino-German Robotics, Shenzhen Institute of Information Technology, Shenzhen 518172, China"},{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-4132-5954","authenticated-orcid":false,"given":"Linzhong","family":"Xia","sequence":"additional","affiliation":[{"name":"School of Sino-German Robotics, Shenzhen Institute of Information Technology, Shenzhen 518172, China"},{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1327-4196","authenticated-orcid":false,"given":"Chen","family":"Lu","sequence":"additional","affiliation":[{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hui","family":"Wang","sequence":"additional","affiliation":[{"name":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen Institute of Information Technology, Shenzhen 518172, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,5,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"519","DOI":"10.1038\/s41583-018-0045-9","article-title":"Decision-Making in Sensorimotor Control","volume":"19","author":"Gallivan","year":"2018","journal-title":"Nat. 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