K.N. Toosi University of Technology International Journal of Robotics, Theory and Applications 2008-7144 11 1 2025 05 01 The Complete Design of Lower Limb Extremity Exoskeleton Robot with Capability of Extending a Control Approach to Semi-Active Mode by Hardware in the Loop Method 33 42 233836 EN Morteza Ahmadi Kermanshahi Intelligent Mechanical Systems Research Laboratory, Pardis Branch, Islamic Azad University, Tehran, Iran Farzad Cheraghpour Samavati Department of Mechanical Engineering, Pardis Campus, Islamic Azad University, Tehran, Iran 0000-0003-4526-1282 Ali Ghaffari K. N. Toosi University of Technology Journal Article 2025 06 02 In this paper, a lower limb extremity exoskeleton robot is presented to support people with disabilities in the walking process and rehabilitation. The first section presents the conceptual design of the robot model, which indicates that the robot has seven degrees of freedom. Then the dynamic model of the mechanical system of the exoskeleton has been shown. In order to dynamic simulation, the mechanical model is transferred from the CATIA to MATLAB and simulated in SimMechanics, by applying the system parameters and implementing a complete process of gait cycle. In the following, a combinative controller is designed based on the described system. Finally, the gained results planted on the prototype of the presented system and the given parameters are tested in a loop by placing the control system hardware in a real-time situation. And the results of this approach demonstrated a good response from the control hardware output of the learning system for the semi-active mode in the exoskeleton. https://ijr.kntu.ac.ir/article_233836_e13957c56dc214ca73723c58e9ea79ef.pdf