The number of stroke cases has contributed to the increasing research and development of exoskeletons to act as walking assistance for paraplegic patients. Exoskeletons currently available in the market are costly and unattainable to many patients. In this study, a low-cost lower limb exoskeleton weighing 20 kg was designed for better accessibility. This walking assistance was driven by high-quality actuators: Harmonic drive actuators and the Pneumatic Actuator Muscles (PAMs). A final design of the exoskeleton was achieved using the Pugh Evaluation Matrix on four conceptual designs. The 3D modelling and static simulations were conducted on the exoskeleton structure at standing and different walking positions for a patient weighing 65 kg. The strength and rigidity of the exoskeleton structure were then conducted using Finite Element Analysis (FEA). The simulation results showed that the stresses acting upon the exoskeleton during movement were well below the maximum allowable stress found to be 205.75 MPa. It can be concluded that the exoskeleton designed was a success and can carry both its own and the wearer’s weight.
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