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In this paper the design and the virtual model of an exoskeleton for human lower limb rehabilitation is developed. The proposed exoskeleton is anthropomorphic, low cost and easy to adapt on the human subject. The design aspect concerns the exoskeleton mechatronic structure achieved in Solid Works virtual environment. In order to realize the multibody model, the virtual spatial model of a human mannequin developed in SolidWorks was transferred to the ADAMS database. The movement laws experimentally collected are introduced in each of the 6 rotational joints of the both lower limbs. Simulation of the mannequin walking is performed.

Design and virtual model of an exoskeleton for lower limb rehabilitation