The analysis, design and implementation of a model of an exoskeleton to support mobility

The potential for using an exoskeleton to support mobility has been considered for some time. The paper describes the procedures associated with the analysis, design and implementation of a model for a lightweight design of such an exoskeleton and shows how the integration of motion analysis with modelling supported the development of the concept. It then proceeds to consider the implementation of the identified control and operational strategies in model form and how the basic concepts developed are being deployed in support of an implementation of system to support the rehabilitation of the lower limbs.