Development and Control of a Lower Limb Exoskeleton Robot

Currently, many people are subject to the harmfulness of paraplegia or paralyzed patients, and more countries are affected by an aging society. Therefore, this research aims to develop the prototype of an assistive exoskeleton robot for assisting with patient gaiting and training his/her gaiting methods. The design and development of an assistive exoskeleton robot is mainly emphasized on the mechanism controller. The mechanism is designed by six actuating joints for hip, knee, and ankle joints in the lower limbs of humans. This device is designed to support a wearable person weighing less than 70 kilograms. The method of control processing design is determined and controlled by the position and speed of the gaiting cycle of humans. The wearable user can control the assistive exoskeleton robot gaiting motion by simply pressing the button attached to the crutch with user-defined gaiting motion.