Mechatronic Design and Development of a Lower-Limb Exoskeleton System Based on Knee Joint Biomechanical Principles Using Electro-Pneumatic Actuation with an Embedded EMG Controller for Experimental Validation in Elderly Gait Rehabilitation Support.

This research looks at the design and testing of an active lower‑limb exoskeleton meant for helping older adults walk again. The device follows the biomechanics of the knee joint and uses electro‑pneumatic actuators to give smooth, high‑force help during both the swing and stance parts of a step. An onboard electromyography (EMG) controller reads muscle signals from the quadriceps and hamstrings. It processes these signals in real time, detects the user’s walking intent, and adjusts the pneumatic valves proportionally. The mechanical frame is shaped to match the body’s natural joint axes, which reduces misalignment and unwanted forces. By pairing the high power‑to‑weight ratio of electro‑pneumatic actuators with the intuitive EMG

feedback, the system can adapt its assistance to each user’s physiological needs. The project also provides detailed guidance for building the structure, designing the pneumatic circuit, and programming the embedded control system. It acts as a practical reference for checking how well an active orthosis fits the user’s motion and how efficiently it delivers force, supporting research and development in assistive mechatronics and biomechanical engineering.

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