Recently, scientific and technological worked on exoskeletons and applied to rehabilitation and functional substitution in patients suffering from motor disorders. The rehabilitation is to restore the patient’s physical, sensory, and mental capabilities due to injury, illness, or disease. Typical habilitation is separated in three types, which are active, passive and active-assistive mode.The relative positions of each joint are determined by Denavit-Hartenberg method. In simulation the revolute, speed and acceleration of each joint in right side are studied to construct the real hardware.

exoskeleton, rehabilitation, robotics.