Published November 16, 2025
| Version v1
Journal article
Open
Design and optimization of the stationary lower limb gait rehabilitation exoskeleton
Authors/Creators
- 1. Andijan branch of Kokand University Department of computer engineering and digital technologies, Andijan, Uzbekistan.
- 2. Andijan State Technical Institute Department of automation machine-building production, Andijan, Uzbekistan.
- 3. Andijan State Technical Institute Department of information technologies, Andijan, Uzbekistan.
- 4. Andijan State Technical Institute Department of Biomedical Engineering, Andijan, Uzbekistan.
Description
This paper examines the mechanical design and optimization of a stationary lower limb exoskeleton for paraplegic patients undergoing indoor gait rehabilitation. The prototype integrates frame segments, joint modules, and physical interfaces. The study first analyzes global and regional demand for exoskeletons to define patient needs, gait phases, and design criteria. A systematic methodology, based on literature reviews, guides the design and optimization process using CAD modeling and simulation software to test motion cycles and validate performance. The paper concludes with recommendations and technical guidelines for future exoskeleton development and research.
Files
2_920-8-17-Takabaev.pdf
Files
(823.7 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:e0e73b12a05991f03c6bf60daf309e63
|
823.7 kB | Preview Download |
Additional details
References
- Şipal, M. S., Yaşar, E., Özişler, Z., Adıgüzel, E., Yıldırım, S., Deler, Ö., Kirdiş, S., Çelik, H. İ., Uluşahin, S. B., Kayalar, G., & Karaduman, A. A. (2024). First report of a new exoskeleton in incomplete spinal cord injury: FreeGait®. Journal of Spinal Cord Medicine, 1–11. https://doi.org/10.1080/10790268.2024.2426314
- Forte, G., Leemhuis, E., Favieri, F., Casagrande, M., Giannini, A. M., De Gennaro, L., & Pazzaglia, M. (2022). Exoskeletons for Mobility after Spinal Cord Injury: A Personalized Embodied Approach. Journal of Personalized Medicine, 12(3), 380. https://doi.org/10.3390/jpm12030380
- Market Report Analytics. (n.d.). Lower Limb Exoskeleton Rehabilitation Robot Market Overview. https://www.marketreportanalytics.com/reports/lower-limb-exoskeleton-rehabilitation-robot-272360#summary
- Global Growth Insights. (n.d.). Lower limb exoskeleton market report. https://www.globalgrowthinsights.com/market-reports/lower-limb-exoskeleton-market-110328
- World Health Organization Regional Office for Europe. (2023, April 5). WHO helps Uzbekistan to strengthen rehabilitation services and assistive technology. https://www.who.int/europe/news/item/05-04-2023-who-helps-uzbekistan-to-strengthen-rehabilitation-services-and-assistive-technology
- Kun.uz. (2022, January 31). The World Bank highlights challenges faced by people with disabilities in Uzbekistan. https://kun.uz/en/news/2022/01/31/world-bank-highlights-challenges-faced-by-people-with-disabilities-in-uzbekistan
- Zhang, Y., De Groof, S., Peyrodie, L., & Labey, L. (2020). Mechanical Design of an Exoskeleton with Joint-Aligning Mechanism for Children with Cerebral Palsy. 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 106–111. https://doi.org/10.1109/biorob49111.2020.9224383
- Wang, J., Pang, Y., Chang, X., Chen, W., & Zhang, J. (2019, June). Mechanical design and optimization on lower limb exoskeleton for rehabilitation. In 2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA) (pp. 137–142). IEEE. https://doi.org/10.1109/ICIEA.2019.8833906
- Narayan, J., Kalani, A., & Dwivedy, S. K. (2022). Lower extremity exoskeleton device for Motion Assistance and GAIT Rehabilitation: design Considerations. In Springer eBooks (pp. 1083–1100). https://doi.org/10.1007/978-3-030-84205-5_25
- Li, Y., Guan, X., Han, X., Tang, Z., Meng, K., Shi, Z., Penzlin, B., Yang, Y., Ren, J., Yang, Z., Li, Z., Leonhardt, S., & Ji, L. (2020). Design and preliminary validation of a lower limb exoskeleton with compact and modular actuation. IEEE Access, 8, 66338–66352. https://doi.org/10.1109/access.2020.2985910
- Pina, D. S., Fernandes, A. A., Jorge, R. N., & Gabriel, J. (2018). Designing the mechanical frame of an active exoskeleton for gait assistance. Advances in Mechanical Engineering, 10(2). https://doi.org/10.1177/1687814017743664
- Yang, K., Jiang, Q. F., Wang, X. L., Chen, Y. W., & Yan, X., MA. (2018). Structural design and modal analysis of exoskeleton robot for rehabilitation of lower limb. Journal of Physics Conference Series, 1087, 062004. https://doi.org/10.1088/1742-6596/1087/6/062004
- Wang, Y., Wu, X., Fang, Y., Osawa, K., Nakagawa, K., Yamasaki, S., & Tanaka, E. (2024). Design, control, and analysis of a 3-Degree-of-Freedom Kinematic–Biologically matched hip joint structure for lower limb exoskeleton. Machines, 12(12), 924. https://doi.org/10.3390/machines12120924
- Zhu, Z., Liu, L., Zhang, W., Jiang, C., Wang, X., & Li, J. (2024). Design and motion control of exoskeleton robot for paralyzed lower limb rehabilitation. Frontiers in Neuroscience, 18. https://doi.org/10.3389/fnins.2024.1355052
- Stańczyk, B., Jarzyna, O., Kunikowski, W., Grzelczyk, D., Mrozowski, J., & Awrejcewicz, J. (2022). Lower Limb Rehabilitation Exoskeleton with a Back Support – Mechanical Design. In Springer proceedings in mathematics & statistics (pp. 205–218). https://doi.org/10.1007/978-3-030-77306-9_18
- Grzelczyk, D., Jarzyna, O., & Awrejcewicz, J. (2022). Modelling and control of a lower limb exoskeleton driven by linear actuators. In Springer proceedings in mathematics & statistics (pp. 119–131). https://doi.org/10.1007/978-3-030-77306-9_11
- Rakhmatillaev, J., Bucinskas, V., Juraev, Z., Kimsanboev, N., & Takabaev, U. (2024). A recent lower limb exoskeleton robot for gait rehabilitation: a review. Robotic Systems and Applications. https://doi.org/10.21595/rsa.2024.24662
- Htet, Y., Behera, B., & Joseph, F. O. M. (2025). Lower extremity exoskeletons: A systematic review on design, control, and sensing. Engineering Research Express. https://doi.org/10.1088/2631-8695/ada663
- Ballen-Moreno, F., Gomez-Vargas, D., Langlois, K., Veneman, J., Cifuentes, C. A., & Múnera, M. (2021). Fundamentals for the design of Lower-Limb Exoskeletons. In Springer eBooks (pp. 93–120). https://doi.org/10.1007/978-3-030-79630-3_3
- Del Carmen Sanchez-Villamañan, M., Gonzalez-Vargas, J., Torricelli, D., Moreno, J. C., & Pons, J. L. (2019). Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles. Journal of NeuroEngineering and Rehabilitation, 16(1). https://doi.org/10.1186/s12984-019-0517-9
- Hasan, S., & Alam, N. (2025b). Comprehensive Comparative Analysis of Lower limb exoskeleton Research: Control, design, and application. Actuators, 14(7), 342. https://doi.org/10.3390/act14070342
- Aristizabal-Aristizabal, J., Ferro-Rugeles, R., Lancheros-Vega, M., M, S. D. S., Múnera, M., & Cifuentes, C. A. (2021). Fundamentals for the design of smart walkers. In Springer eBooks (pp. 121–141). https://doi.org/10.1007/978-3-030-79630-3_4
- Rakhmatillaev, J., Bucinskas, V., & Kabulov, N. (2025). An integrative review of control strategies in robotics. Robotic Systems and Applications. https://doi.org/10.21595/rsa.2025.25014