Abstract:
This research presents the results of conceptual design and modeling of an
exoskeleton. It is intended for ankle joint rehabilitation in patients with musculoskeletal
disorders. The exoskeleton design includes three screw actuators that smoothly control
motion in the planes of dorsal and plantar flexion, inversion, and eversion. The results
of the virtual tests performed on the exoskeleton device demonstrated a high degree of
adaptability to varying loads and different phases of motion. Controlled torque fluctuations
and linear motion provide the necessary support during different phases of rehabilitation,
which has a positive impact on the patient’s recovery rate. The advantages of the design
include material availability, ease of use, and flexibility in customization, making it an
attractive option for use in both clinical and home settings. The study emphasizes the
importance of developing affordable and accurate rehabilitation devices that can adapt to
individual patient needs.
