Design Evolution and Experimental Validation of the AlmatyExoElbow Assisting Device
Bizhanov D. Ceccarelli M. Ozhikenov K. Zhetenbayev N.
January 2026Multidisciplinary Digital Publishing Institute (MDPI)
Robotics
2026#15Issue 1
This paper presents the design, prototype, and experimental evaluation of the AlmatyExoElbow, a lightweight cable-driven robotic exoskeleton that is intended to support elbow joint rehabilitation. The device provides two active degrees of freedom for flexion/extension and pronation/supination. It also incorporates a sensor-based control system for accurate motion tracking. The mechanical structure is fabricated using 3D-printed PLA plastic, resulting in a compact, modular, and comfortable design suitable for prolonged use. The control architecture is based on an Arduino Nano microcontroller integrated with IMU sensors, enabling the real-time monitoring of elbow motion and the precise reproduction of physiologically relevant movement patterns. The results of experimental testing demonstrate smooth and stable operation, confirming reliable torque transmission through antagonistic cable mechanisms. Overall, the proposed design achieves a balanced combination of functionality, portability, and user comfort, highlighting its potential for upper-limb rehabilitation applications in both clinical and home-based settings.
AlmatyExoElbow , cable-driven mechanism , elbow joint , exoskeleton , IMU sensors , PLA prototype , rehabilitation robotics
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Department of Robotics and Technical Means of Automation, Satbayev University, Almaty, 050013, Kazakhstan
Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty, 050013, Kazakhstan
Department on Industrial Engineering, University of Rome Tor Vergata, Rome, 00133, Italy
Department of Science and Innovations, ALT University Named After Mukhamedzhan Tynyshpaev, Almaty, 050012, Kazakhstan
Department of Robotics and Technical Means of Automation
Department of Aerospace and Electronic Engineering
Department on Industrial Engineering
Department of Science and Innovations
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