Design and Development of an adaptive robotic rehabilitation exoskeleton for lower limb

Abstract

This thesis focuses on the design and development of an adaptive robotic rehabilitation exoskeleton for lower-limb assistance. The main objective of the project is to create a more compact, integrated, and portable electronic system that can be easily embedded into lower-limb exoskeleton structures for practical rehabilitation use. To achieve this goal, a custom electronic architecture based on the ESP32 Feather S3 and Arduino Portenta H7 microcontrollers was developed. The work includes the design of a custom expansion PCB, two adapter boards for MCU compatibility, and a fully customized IMU module for real-time motion sensing. These hardware components enable improved functionality, reduced system size, and enhanced structural integration. In addition, dedicated firmware was implemented to ensure stable communication, control, and data acquisition across the exoskeleton system.