Design and Fabrication of Lower-Base Exoskeleton for Paralysis People

This work presents the design, fabrication, and experimental evaluation of a lower-base exoskeleton intended to assist individuals affected by lower-limb paralysis. The system employs a worm-gear-driven stepper motor for hip joint actuation to provide high torque and inherent self-locking safety, along with a lead-screw-based linear actuation mechanism for assisted sit-to-stand motion. Mechanical design methodology, actuator sizing, material selection, and finite element structural analysis are presented to validate system safety and performance. A laboratory-scale prototype is fabricated and experimentally evaluated, demonstrating reliable actuation, controlled joint motion, and adequate load-handling capability for rehabilitation-oriented applications.