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

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.