I. Introduction
In the past two decades, tremendous progress has been made in robotics. Exoskeleton performance, portability, wearability, and cost efficiency have all improved significantly. There is a financial strain that is placed on both family members and patients who are suffering from longterm illness. The majority of exoskeletons have been created using various methods such as mechanical design, actuation, and control. There are several restrictions to the LLEs that are presently available. There are many options for these devices, however the optimal methods to mechanical design with reduced weight have yet to be discovered. The design of a minimal weight lower limb exoskeleton has many difficulties. The majority of the exoskeleton is made up of components such as actuators, sensors, frames, hardware control, and a user-connected physical interface. Exoskeletons are classified based on the individual’s condition. The top extremity has an exoskeleton, the bottom extremity has an exoskeleton, and the whole body has an exoskeleton. These exoskeletons are used to treat patients with movement impairments caused by diseases such as osteoporosis, muscle atrophy, obesity, stroke, spinal cord injuries, and other disorders.