Exoskeleton design for patients with mobility impairments: Robotic and gait-based design

This article discusses the development of a lower limb exoskeleton designed for use by people with motor disabilities. The design of the exoskeleton incorporates the various movements of the human body, and hence the model of the robotic system is derived from human body movements. The design of the exoskeleton incorporates many methodologies from the field of robotics, including kinematic and dynamic investigations, as well as control theory. In addition, the exoskeleton’s own gait is computed through gait analysis using vision techniques.For its part, the gait analysis of the proposed work is done using vision techniques, that is, a study is carried out with patients who walk, where the different angular values of their lower limbs are extracted, and based on them apply these values to the proposed exoskeleton.