Design of a Lower Limb Exoskeleton Prototype for Patients with Motor Disabilities Using VDI 2206 + Pahl and Beitz Methodology

Integrating robots in rehabilitation therapies, such as exoskeletons, provides session stability. This is achieved by avoiding fatigue and improving movement efficiency, thus reducing rehabilitation times compared to traditional methods. This work aims to design a lower limb exoskeleton prototype for individuals with motor disabilities, whether caused by various diseases such as sarcopenia in older adults. The VDI 2206 + Pahl and Beitz methodology was employed to guide the comprehensive design of the exoskeleton. The structure is divided into three main sections: Mechanical Design, Instrumentation, and Control. The Mechanical Design section addresses the conceptual design of the exoskeleton and the actuation mechanism, along with material selection, followed by a stress analysis to ensure design requirements. The Instrumentation section tests EMG sensors to relate the person’s movement and the necessary muscle activation. The Control section presents the kinematic and dynamic model of the exoskeleton, as well as the integration of joint trajectories during the gait cycle using sliding control. This work proposes a proof of concept based on advances in the state of the art of control.