This project attempts to tackle some of the challenges in developing an exoskeleton device using simulation methods. in this project, the closed loop simulation of a human exoskeleton is performed .In this study, a simulation-based method is presented for the designing and analysis of the parameters of an exoskeleton and its wearer’s kinetics and kinematics. Model-based design software, including OpenSim and Inventor, and mathematical software, such as MATLAB, are integrated. This method can assist in the modification of exoskeleton devices and allow physiologists, and physical therapists to generate new solutions for rehabilitation programs using exoskeletons.