It is imperative to develop an rehabilitative appliance to help patients with lower limb disabled walk again because patients’ number increases and the traditional training needs physical therapists’ auxiliary and costs high. Therefore, we design a lower limb rehabilitative exoskeleton legs driving by two linear actuators and optimize the legs’ structure to resolve the problem that the linear w...

A new compact mobile lower limb robotic exoskeleton (MLLRE) has been developed for gait rehabilitation for neurologically impaired patients. This robotic exoskeleton is composed of two exoskeletal orthoses, an active body weight support (BWS) system attached to a motorized mobile base, allowing over-ground walking. The exoskeletal orthosis is optimized to implement the extension and flexion of ...

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 presen...

This work presents the simulation of a seven degree of freedom exoskeleton for lower limbs which uses synchronized neural oscillators to generate and adapt the joint trajectories regarding the change of the walking velocity. Neural oscillators are sets of differential equations able to produce an oscillatory signal given appropriate values to their parameters. Thus, a curve fitting optimization...