Design of an Exoskeleton for Rehabilitation Ankle Joint

This paper presents a low-cost design of a device to assist in ankle rehabilitation. The article introduces the mechanical design of the proposed device, covering the ankle joint of the lower body. The size of the exoskeleton, referring to the segments of the limbs, is limited to a certain range of proportions of the object. Each joint is motorized and equipped with a specific mechanism, such as a linear actuator and a four-bar mechanism efficiency in terms of speed and power transmission help a patient to regain the ability to move. The exoskeleton is made specifically for outdoor use so that the lower body can move as well as support the weight of the assisted person.