Design and Development of a Rehabilitation Exoskeleton for Lower Limb Assistance: Mechanical Design, Control Mechanisms, and Future Directions

This paper presents a lower limb rehabilitation exoskeleton for stroke patients, featuring a 6061-T6 aluminum frame (4.5 kg), EMG-driven adaptive control, and a vibration damping system (50 N/m springs, Dynamixel MX- 28 motors). Unlike conventional systems like ReWalk, our design anticipates user intent, achieving a 15% improvement in gait synchronization. MATLAB/Simulink simulations show an 18 % reduction in motion errors and a 95 % gait synchronization rate. Future enhancements include AI-driven adaptability and modular customization.