Design and simulation of a new lower exoskeleton for rehabilitation of patients with paraplegia

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presents close equation for the forward and inverse kinematics by geometric and Denavit-Hartenberg (D-H) approach. Also, the dynamic model is approached by applying the principle of Lagrangian dynamics. The paper contains several simulations and numerical examples to prove the analytical results.