Master's Thesis—Lower Limb Exoskeleton 

Designed and developed a bilateral 6 DOF lower-limb exoskeleton for assistance and rehabilitation. 

Key contributions:

• • Developed a planar dynamic model to determine joint torque, speed, and power requirements. 

  • Designed and fabricated the actuator mechanisms, wearable leg structure, back support, and passive ankle-foot assembly.

  • Developed a machine-learning model to generate personalized hip and knee trajectories from user characteristics.

  • Implemented the control architecture and evaluated the integrated system through treadmill testing.

  • Created technical documentation for future development and testing.