DESIGN AND SIMULATION OF A NEW LOWER EXOSKELETON FOR REHABILITATION OF PATIENTS WITH PARAPLEGIA Fermín C. Aragón 1+ , C. Hernández-Santos 1* , José-Isidro Hernández Vega 1 , D. A. Córdova 1 , D. G. Palomares Gorham 2 , J. L. Sánchez Cuevas 2 1 División de Estudios de Posgrado e Investigación, Instituto Tecnológico de Nuevo León, Av. Eloy Cavazos #2001, Guadalupe, Nuevo León, México. 2 Departamento de Ingeniería Eléctrica-Electrónica, Instituto Tecnológico de Nuevo León, Av. Eloy Cavazos No. 2001, Colonia Tolteca, C.P. 67170, Cd. Guadalupe, N.L., México + fermin.aragon91@gmail.com * corresponding author Email: carlos.hernandez@itnl.edu.mx Abstract. The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presents close equation for the forward and inverse kinematics by geometric and Denavit-Hartenberg (D-H) ap- proach. Also, the dynamic model is approached by applying the principle of Lagran- gian dynamics. The paper contains several simulations and numerical examples to prove the analytical results. Keywords: Exoskeleton, Mechanical design, Simulation, paraplegia, rehabilitation. 1 Introduction In Mexico since 2010, exist over 5, 739, 270 million persons with some disability, that represents 5.1 % of the total population. Limitation of mobility is the greatest suffering among the population of the country; the 58.3% limiting the declared relate to walk or move. One disease that affects walking mobility is paraplegia, which af- fects more than 20 million people in the world, where these people have no or partial capacity for mobility in your lower extremities [1]. The growing number of people with motor disabilities has been launched to develop new engineering techniques to assist walking. One of the techniques under development are driving exoskeletons. These devices are intended to give patients the opportunity to regain mobility and thus actively integrated into society, overcoming physical limitations associated with the inability to walk. Exoskeletons are a techno-