# Research and Experimental Testing of a Remotely Controlled Ankle Rehabilitation Exoskeleton Prototype

## TL;DR

This paper presents a remotely controlled ankle exoskeleton prototype for rehabilitation, tested for mobility and control accuracy.

## Contribution

A novel ankle exoskeleton prototype with remote control capabilities and wireless communication integration is developed and tested.

## Key findings

- The exoskeleton achieved an RMSE of 23.9° for dorsiflexion/plantarflexion and 12.8° for inversion/eversion.
- Signal transmission delay averaged 100 ms with 0.6% packet loss during remote control testing.
- The system proved technically feasible for remote control up to 10 meters.

## Abstract

Today, there is a high demand for remote rehabilitation using mobile robotic complexes all over the world. They offer a wide range of options for convenient and effective therapy at home to patients and the elderly, especially those bedridden after musculoskeletal injuries. In this case, modern approaches to the development of exoskeletons for the rehabilitation of the lower extremities are especially relevant for the effective restoration of lost motor functions. Taking into account the advantages and features of robotic rehabilitation, this work is devoted to the development of a prototype exoskeleton for the ankle joint and experimental studies of the remote control module. The proposed new exoskeleton prototype design was integrated with a mobile wireless communication platform, allowing remote control of the position of the exoskeleton foot using a remote control device. As a result of functional testing, the root mean square error (RMSE) was 23.9° for dorsiflexion/plantarflexion movements and 12.8° for inversion and eversion movements, as well as an average signal transmission delay of about 100 ms and packet loss of 0.6%. These results reflect the technical feasibility of remote control at a distance of up to 10 m. The developed system is mobile, autonomous, and easy to use, which confirms its suitability as a laboratory platform for functional verification and testing of module consistency.