Design and Simulation of a 3D Model Lower Limb Exoskeleton for Rehabilitation

Abstract

A 3D model lower limb exoskeleton for rehabilitation of the paraplegics is designed using solid works. Different scenarios are tested and evaluated using MATLAB. The system enhances the body functions, and performance and assists standing and walking, avoiding skin and muscle injuries while keeping the safety rules and cost in mind. The sensors collected data that measured the assistance force and sensed the articulation rotation angles to actuate and control the actuators attached at the hip and knee joints with high speed and high accuracy. The control of the system is done by using an Arduino microcontroller and a smart crutch. After reading the current parameters and surroundings of the patient by the sensors, the microcontroller processes the collected data by comparing it to the desired state, generates the signal, and then finally controls the actuators according to the calculated trajectory. With the ability to operate fully without a spotter, this 3D model consistent stand-up and and sitdown allows people to be self-sufficient. Testing in both lab and real-world settings has been made possible by this device's versatility.