Design and development of a modular cable-driven lower-limb exoskeleton for early rehabilitation after hip and knee endoprosthesis

Munaitpas Otkilov, Zhanibek Issabekov, Bizhanov Dauren, Javlonbek Rakhmatillaev, Saltanat Yussupova, Nursultan Zhetenbayev

2026

Full text Open access: Gold Metadata (CSL-JSON)

DOI 10.21595/vp.2026.26477

Data confidence 85 high

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Abstract

This paper presents a modular lower-limb exoskeleton concept fo4r early rehabilitation after hip and knee endoprosthesis. The system combines a cable-driven (Bowden) mechanism, a Hip-Knee modular architecture, and an adaptive Assist-as-Needed control strategy. The “one motor – two functions” principle reduces system weight and improves energy efficiency. Real-time control based on IMU and force sensors ensures accurate and safe motion. The proposed solution provides a lightweight and adaptive approach for simultaneous rehabilitation of the hip and knee joints.