A review of modern research on the structural solutions of lower limb exoskeletons is presented. The principles of design, selection of actuator types, and their placement depending on the functional purpose of the device are examined. Exoskeletons are used for rehabilitation, enhancement of motor functions, and reducing muscle strain during strenuous physical tasks. Both active and passive actuators are discussed, along with the impact of electric, hydraulic, and pneumatic actuators on biomechanics. Attention is given to weight optimization, energy efficiency, autonomy, and the integration of intelligent control systems. Special focus is placed on rehabilitation exoskeletons and their application for patients recovering from injuries and neurological disorders. The conclusion emphasizes the importance of developing lightweight, compact, and cost-effective solutions that can improve user mobility.
Karim et al. (Thu,) studied this question.
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