This study presents the design, modeling, and simulation of a 4 DOF (degrees of freedom) exoskeleton aimed at augmenting human mobility and strength, with applications in both rehabilitation and human performance enhancement. By leveraging advanced computational tools and simulation techniques, the research addresses critical aspects of exoskeleton development, including mechanical design, actuation mechanisms, and control strategies. Preliminary mechanical testing of a 3D printed model validates the theoretical design, highlighting the potential of the proposed system to meet the intended performance objectives with a focus on user comfort and safety. The results from simulation studies reveal the precision and adaptability of the control system, demonstrating its capability to execute complex movements with minimal error and respond effectively to dynamic disturbances. Energy efficienc...