Design and control of a novel powered wearable knee exoskeleton for lower limb rehabilitation

Lower limb rehabilitation is a crucial aspect of recovery following various injuries and musculoskeletal disorders. Traditional techniques, while effective, can be time-consuming and require intensive therapist involvement. Powered wearable knee exoskeletons offer a promising solution by providing targeted torque assistance during rehabilitation exercises. This paper presents the design and control of a novel powered wearable knee exoskeleton specifically tailored for lower limb rehabilitation applications. The exoskeleton prioritizes user comfort, safety, and ease of use. We delve into the mechanical design considerations for achieving lightweight construction, comfortable wearability, and suitable range of motion. Subsequently, we elaborate on the control algorithm employed on the knee exoskeleton, focusing on its ability to improve rehabilitation efficiency.