The design of a new exoskeleton is presented based on four electric linear actuators for the flexion motion range of the ankle of a user. The exoskeleton system is designed to be easy to operate and fairly inexpensive so that it can be used as a tool for exercising and the rehabilitation of the ankle. A prototype of the ankle exoskeleton is presented with its electrical circuit and components, such as servomotors, microcontrollers, sensors, and power supplies. The prototype is distinguished by an innovative design, which uses linear electric actuators for angular-assisted motion, providing a controlled adaptive movement of the ankle joint in its basic movements, separately and combined. The key elements of the ankle exoskeleton prototype consist of a lower leg housing, front and rear servomotor mounts, and ball joints with the aim of mimicking and supporting the natural movements of the ankle for users with walking and mobility problems. The innovation of the proposed work can be recognized in the portable mechanical design with a proper mechatronic design with four actuators that control ankle motion in all its possibilities.

This research focuses on developing an artificial vision system for a flexible delta robot manipulator and integrating it with machine-to-machine (M2M) communication to optimize real-time device interaction. This integration aims to increase the speed of the robotic system and improve its overall performance. The proposed combination of an artificial vision system with M2M communication can detect and recognize targets with high accuracy in real time within the limited space considered for positioning, further localization, and carrying out manufacturing processes such as assembly or sorting of parts. In this study, RGB images are used as input data for the MASK-R-CNN algorithm, and the results are processed according to the features of the delta robot arm prototype. The data obtained from MASK-R-CNN are adapted for use in the delta robot control system, considering its unique characteristics and positioning requirements. M2M technology enables the robot arm to react quickly to changes, such as moving objects or changes in their position, which is crucial for sorting and packing tasks. The system was tested under near real-world conditions to evaluate its performance and reliability.

The ankle exoskeleton is an auxiliary device designed to restore human independence. This paper proposes the development and initial testing of a passive ankle exoskeleton designed for movements with dorsal and plantar flexion. The device also includes a new mechanism design with four electric linear actuators, and the shank platform and the foot platform are connected to the ball by a swivel joint. Mechanical tests demonstrate the ability of the prototype to function adequately in the natural range of the ankle joint. Preliminary results show that the exoskeleton can reduce the activation of the calf muscles on the limb on which the device is installed. In the investigation of a passive ankle joint exoskeleton designed for movements with dorsal and plantar flexion, numerical test results can be highlighted by focusing on parameters such as speed, acceleration, and translation moment. These measurements provide valuable information about the performance and effectiveness of the exoskeleton. By focusing on these numerical test results, it is possible to obtain an idea of the performance of the exoskeleton, understand its impact on the movements of the ankle joint, and make informed decisions for further improvements or optimization of the design.

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.

This paper presents a study on developing a new exoskeleton for ankle joint rehabilitation with three degrees of freedom (3 DOFs). The primary attention is paid to the process of designing and modelling the device aimed at restoring the lost functions of joint mobility. The authors conducted a complex analysis of the functional requirements of the exoskeleton based on research into the potential user’s needs, which allowed for the development of a conceptual model of the proposed device. In this study, a prototype of the exoskeleton is designed using modern additive technologies. The prototype underwent virtual testing in conditions maximally close to reality, which confirmed its effectiveness and comfort of use. The main results of this study indicate the promising potential of the proposed solution for application in rehabilitation practices, especially for patients with ankle joint injuries and diseases.