The Design and Development of a Lower Limbs Rehabilitation Exoskeleton Suit

In this paper, we present the design and development of an exoskeleton suit for the lower limbs rehabilitation. The exoskeleton suit includes biomimetic framework, perception subsystem, controller, electrical motor driving system, and power supply subsystem. The framework is used to support the weight of the exoskeleton suit as well as wearer's body. Electrical motor driving system uses disc motor to drive knee joint and hip joint of exoskeleton suit. The perception subsystem mainly consists of sensors and transmission network, which gathers data about the body position and senses the intention of movement. The perception logic is based on events. Based on control algorithm, the controller sends signals to motor. In the paper, we detailed the design and implementation of each subsystem. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limbs rehabilitation exoskeleton suit.