Design and Modeling of an Exoskeleton Robotic System for the Rehabilitation of Lower Limbs

This paper is mainly concerned with the mechanical design of a simple exoskeleton robotic system for the rehabilitation of the human lower limb. The designed exoskeleton allows to preserve the main movements of the different joints of the human leg. Thus, we describe the morphology of the exoskeleton and the selection of the different necessary joints. Moreover, a calculation of the torque required at each joint is realized allowing hence to the right choice of actuators. Furthermore, we present the different parts for the mechanical design of the exoskeleton structure, and also for the electrical design. Finally, we provide the nonlinear dynamic model of the designed lower- limb exoskeleton robot.