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primary topic: Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients

Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients
type: AcademicArticle
type: Article
abstract: Post-stroke patients often experience motor function impairments in the lower extremities, including the ankle joint, which can hinder walking ability and body balance. Rehabilitation plays a crucial role in restoring these functions; however, it typically requires a lengthy process and intensive involvement from medical professionals. This study aims to design and develop a Two-Degree-of-Freedom (2-DoF) ankle exoskeleton system, incorporating dorsiflexion–plantarflexion and inversion–eversion movements, as an alternative automated and programmable rehabilitation therapy. The system's performance was evaluated by comparing the actual joint movement angles with reference angles set through preset inputs. Tests were conducted under both unloaded conditions and loaded conditions simulating the limb mass of users. The results showed that for dorsiflexion–plantarflexion movements, the average angle error was 1.9° under unloaded conditions, increasing to 2.7° when a load was applied. For inversion–eversion movements, the average error was 2.4° without load and 3.2° with load. The system demonstrated operational stability and consistency in following the programmed motion trajectories. Based on these findings, the developed exoskeleton has potential as an effective, safe, and efficient rehabilitation therapy device to support functional recovery in post-stroke patients.
volume: 15
issue: 5
status: peerReviewed
status: published
author list: authors
creator: Ashari Faisal Ashari
type: EPrint
type: ArticleEPrint
is part of: repository
has document: Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients (Text)
subject: HE Transportation and Communications

Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients (Text)
type: Document
has file: LIT 2025 Juni Eko Wahyu Abryandoko, Faisal ashari, Galih Budi Laksono, Suji'at4, Ichwan Hadi Saputra.pdf
has part: LIT 2025 Juni Eko Wahyu Abryandoko, Faisal ashari, Galih Budi Laksono, Suji'at4, Ichwan Hadi Saputra.pdf

Engineering, Technology & Applied Science Research
type: Organization

Engineering, Technology & Applied Science Research
type: Collection

Ashari Faisal Ashari
type: Person
given name: Ashari
family name: Faisal Ashari

Abryandoko (2026) Eko Wahyu Abryandoko
type: Person
given name: Abryandoko (2026)
family name: Eko Wahyu Abryandoko

Universitas Bojonegoro
type: Organization

HTML Summary of #4378 Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients
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primary topic: Design and Motion Control of a 2-DoF Exoskeleton Robot for Ankle Joint Rehabilitation of Post-Stroke Patients

HE Transportation and Communications
type: Concept