eprintid: 2962
rev_number: 9
eprint_status: archive
userid: 16
dir: disk0/00/00/29/62
datestamp: 2026-01-08 08:21:33
lastmod: 2026-01-08 08:21:33
status_changed: 2026-01-08 08:21:33
type: article
metadata_visibility: show
creators_name: Eko Wahyu Abryandoko, Abryandoko (2026)
creators_name: Faisal Ashari, Ashari (2026)
creators_id: abryadnoko@gmail.com
creators_id: faisal@saintek.unigoro.ac.id
corp_creators: Universitas Bojonegoro
title: Optimization of exoskeleton design for post-stroke ankle rehabilitation based on kinematic and structural model evaluation
ispublished: pub
subjects: TA
divisions: ti
keywords: Exoskeleton design engineering Simulation Ankle Stroke rehabilitation
abstract: Ankle rehabilitation is a crucial indicator of walking ability recovery, as it serves as a marker of early mobility function recovery in post-stroke patients. Robot-assisted ankle rehabilitation is more effective in restoring range of motion, balance, and gait proprioception in patients with ankle injuries. This study aims to optimize the design of an ankle rehabilitation exoskeleton through structural simulation, biomechanical alignment, and efficiency based on several alternative actuator designs. Alternative exoskeleton designs focus on the rehabilitation of dorsiflexion-plantarflexion and inversion-eversion movements. The analysis method for assessing the best exoskeleton design alternatives uses an engineering design methodology approach based on static and dynamic test parameters, namely kinematics and finite element analysis. The results of the design engineering implementation show that the exoskeleton design with Concept B is more efficient based on several mechanical test parameters compared to Concept A. Simulation results show that Design B alternative is superior in all test parameters with a value of (4.22 versus 3.68) in the safety factor, a lower peak stress of (30.43 MPa versus 39.15 MPa), and produces energy efficiency with lower torque requirements. The mechanical stability of Concept B is characterized by utilizing a more efficient actuator design with enhanced safety features for users. Based on the parameters and characteristics of the simulation test using design engineering, Design B is more feasible for development as a robotic mechanical system to meet the needs of post-stroke patient ankle rehabilitation.
date_type: published
publisher: JOURNAL OF MECHANICAL ENGINEERING AND SCIENCES
full_text_status: public
publication: JOURNAL OF MECHANICAL ENGINEERING AND SCIENCES
volume: 19
number: 3
pagerange: 10791-10804
refereed: TRUE
issn: 2231-8380
citation:   Eko Wahyu Abryandoko, Abryandoko (2026) and Faisal Ashari, Ashari (2026)   Optimization of exoskeleton design for post-stroke ankle rehabilitation based on kinematic and structural model evaluation.  JOURNAL OF MECHANICAL ENGINEERING AND SCIENCES, 19 (3).  pp. 10791-10804.  ISSN 2231-8380     
document_url: https://repository.unigoro.ac.id/id/eprint/2962/1/Lit%20Eko.pdf