An Intelligent Exoskeleton for Lower Limb Rehabilitation

A lightweight adjustable exoskeleton is designed to exercise human legs of varying size and weights. The exoskeleton is actuated by three DC motors at the hip, knee, and ankle. An experimental setup with motor controllers, power supplies, a controlled board, and a computer is developed for closed loop control. A sliding mode control law is designed and implemented to exercise an articulated mannequin leg. It is shown that the exoskeleton is able to adapt to external forces making it suitable to aid in the human leg rehabilitation process.