Research and Experimental Testing of a Remotely Controlled Ankle Rehabilitation Exoskeleton Prototype
Ozhiken A. Sergazin G. Ozhikenov K. Wang H. Zhetenbayev N. Tursunbayeva G. Nurmangaliyev A. Uzbekbayev A.
November 2025Multidisciplinary Digital Publishing Institute (MDPI)
Sensors
2025#25Issue 21
Today, there is a high demand for remote rehabilitation using mobile robotic complexes all over the world. They offer a wide range of options for convenient and effective therapy at home to patients and the elderly, especially those bedridden after musculoskeletal injuries. In this case, modern approaches to the development of exoskeletons for the rehabilitation of the lower extremities are especially relevant for the effective restoration of lost motor functions. Taking into account the advantages and features of robotic rehabilitation, this work is devoted to the development of a prototype exoskeleton for the ankle joint and experimental studies of the remote control module. The proposed new exoskeleton prototype design was integrated with a mobile wireless communication platform, allowing remote control of the position of the exoskeleton foot using a remote control device. As a result of functional testing, the root mean square error (RMSE) was 23.9° for dorsiflexion/plantarflexion movements and 12.8° for inversion and eversion movements, as well as an average signal transmission delay of about 100 ms and packet loss of 0.6%. These results reflect the technical feasibility of remote control at a distance of up to 10 m. The developed system is mobile, autonomous, and easy to use, which confirms its suitability as a laboratory platform for functional verification and testing of module consistency.
ankle joint , exoskeleton , lower limb rehabilitation , motion biomechanics , remote control device , remote control system , wireless communication platform
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Institute of Mechanics and Engineering named after Academician U.A. Joldasbekov, Almaty, 050010, Kazakhstan
School of Information Sciences, University of Illinois at Urbana-Champaign, Champaign, 61820, IL, United States
ALT University, Almaty, 050013, Kazakhstan
Department of Robotics and Technical Tools of Automation, Satbayev University, Almaty, 050013, Kazakhstan
Department of Information Security, Eurasian National University, Astana, 10000, Kazakhstan
Department of Information Technologies, “Q” University, Almaty, 050026, Kazakhstan
Research Institute of Applied Science and Technologies, Almaty, 050013, Kazakhstan
Institute of Mechanics and Engineering named after Academician U.A. Joldasbekov
School of Information Sciences
ALT University
Department of Robotics and Technical Tools of Automation
Department of Information Security
Department of Information Technologies
Research Institute of Applied Science and Technologies
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