Abstract The objective of this study was the design of a system of supports and fixations for the Nukawa, an exoskeletal system of lower limb rehabilitation controlled through robotics and surface electromyography. The supporting system was developed emphasizing lumbar support, hand support, and fixation mode, grip, and suspension, in order to generate ideal ergonomic conditions for the use of Nukawa by the average population. In this context, this work developed a design proposal linking the exoskeleton with a modular orthosis type system, based on the study of body shapes and segments (cineanthropometry). The elaboration of the parts and the functional verification of the prototype considered design requirements of the Nukawa and recommendations from medical staff. Design stages also involved the specifications of the additive manufacturing, and the analysis through finite element software. The generated prototype is an intuitive system, where all the components interact to execute the rehabilitation process, with the least possible risk for the patient.