{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T23:51:37Z","timestamp":1790639497524,"version":"4.1.0"},"reference-count":24,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T00:00:00Z","timestamp":1738195200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Treating ankle fractures in athletes, commonly resulting from training injuries, remains a significant challenge. Current approaches to managing both non-surgical and postoperative foot and ankle disorders have focused on integrating sensory systems into orthotic devices. Recent analyses have identified several gaps in rehabilitation strategies, especially regarding gait pattern reformation during recovery. This work aims to enhance rehabilitation effectiveness for patients with ankle injuries by controlling load distribution and monitoring joint flexion\/extension angles, as well as the reactive forces during therapeutic exercises and walking. We developed an exoskeleton device model using SolidWorks 2024 software, based on data from two patients: one healthy and one with an ankle fracture. Pressure measurements in the posterior limb region were taken using the F-Socket system and a custom electromechanical sensor designed by the authors. The collected data were analyzed using the butterfly parameterization method. This research led to the development of an adaptive exoskeleton device that provided pressure distribution data, gait cycle graphs, and a diagram correlating foot angles with the duration of exoskeleton use. The device demonstrated improvement in the patients\u2019 conditions, facilitating a more normalized gait pattern. A reduction in the load applied to the ankle joint was also observed, with the butterfly parameter confirming the device\u2019s correct operation.<\/jats:p>","DOI":"10.3390\/s25030832","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T05:40:46Z","timestamp":1738215646000},"page":"832","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Adaptive Exoskeleton Device for Stress Reduction in the Ankle Joint Orthosis"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9054-448X","authenticated-orcid":false,"given":"Andrey","family":"Iziumov","sequence":"first","affiliation":[{"name":"Department of the Robotics and Mechatronics, Faculty of Automation, Mechatronics and Control, Don State Technical University, 344003 Rostov-on-Don, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Talib Sabah","family":"Hussein","sequence":"additional","affiliation":[{"name":"Department of the Robotics and Mechatronics, Faculty of Automation, Mechatronics and Control, Don State Technical University, 344003 Rostov-on-Don, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0515-9849","authenticated-orcid":false,"given":"Evgeny","family":"Kosenko","sequence":"additional","affiliation":[{"name":"Department of the Robotics and Mechatronics, Faculty of Automation, Mechatronics and Control, Don State Technical University, 344003 Rostov-on-Don, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-5667-0049","authenticated-orcid":false,"given":"Anton","family":"Nazarov","sequence":"additional","affiliation":[{"name":"Department of the Robotics and Mechatronics, Faculty of Automation, Mechatronics and Control, Don State Technical University, 344003 Rostov-on-Don, Russia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Wu, H., and Li, Y. (2024). A Gripper Force Sensing Device for Collaborative Manipulator Based on Force Sensitive Resistor. Computational and Experimental Simulations in Engineering, Springer.","DOI":"10.1007\/978-3-031-42515-8_96"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2066","DOI":"10.1109\/TIE.2022.3163538","article-title":"A Variable Configuration Force Sensor With Adjustable Resolution for Robotic Applications","volume":"70","author":"Sun","year":"2023","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"26608","DOI":"10.1109\/JSEN.2023.3313002","article-title":"Dynamic Tire\/Road Friction Estimation With Embedded Flexible Force Sensors","volume":"23","author":"Chen","year":"2023","journal-title":"IEEE Sens. J."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"12567","DOI":"10.1109\/JSEN.2023.3263399","article-title":"Gait Abnormality Detection in Unilateral Trans-Tibial Amputee in Real-Time Gait Using Wearable Setup","volume":"23","author":"Rathore","year":"2023","journal-title":"IEEE Sens. J."},{"key":"ref_5","unstructured":"Shivani, S.A., Sri, S.B., and Krishnakumar, S. (2023, January 17\u201319). Smart Gadget for Tracking and Primary Treatment of Diabetic Foot Ulcers. Proceedings of the 7th International Conference on Intelligent Computing and Control Systems (ICICCS), Madurai, India."},{"key":"ref_6","first-page":"1","article-title":"Hardware-Software Complex for Strain-Tremorometric Measurements in Psychophysiological Studies","volume":"2","author":"Belinsky","year":"2023","journal-title":"Russ. Psychol. J."},{"key":"ref_7","unstructured":"Toedtheide, A., Chen, X., Sadeghian, H., Naceri, A., and Haddadin, S. (June, January 29). A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, UK."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1007\/s11664-022-10008-y","article-title":"Electromagnetic Interference Shielding Performance of CNT Sponge\/PDMS Force-Sensitive Composites","volume":"52","author":"Liu","year":"2023","journal-title":"J. Electron. Mater."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Zhang, R., Zhai, Q., Bao, F., Zhao, D., Lu, Z., Wang, J., and Wang, W. (2023). A Highly Stretchable Force Sensitive and Temperature Sensitive Sensor Material with the Sandwich Structure of PDMS + PDMS\/GaInSn + PDMS. Polymers, 15.","DOI":"10.3390\/polym15183776"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"113992","DOI":"10.1016\/j.measurement.2023.113992","article-title":"Structure and Function Design of Carbon Nanotube-Based Flexible Strain Sensors and Their Application","volume":"225","author":"Chen","year":"2024","journal-title":"Measurement"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Andrade, R.L., Figueiredo, J., Fonseca, P., Vilas-Boas, J.P., Silva, M.T., and Santos, C.P. (2024). Human-Robot Joint Misalignment, Physical Interaction, and Gait Kinematic Assessment in Ankle-Foot Orthoses. Sensors, 24.","DOI":"10.3390\/s24010246"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Wang, C., He, T., Zhou, H., Zhang, Z., and Lee, C. (2023). Artificial Intelligence Enhanced Sensors: Enabling Technologies to Monitor and Manage COVID-19. Bioelectron. Med., 9.","DOI":"10.1186\/s42234-023-00118-1"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"9038375","DOI":"10.1155\/2022\/4653923","article-title":"Machine Learning for Healthcare Wearable Devices: The Big Picture","volume":"2022","author":"Sabry","year":"2022","journal-title":"J. Healthc. Eng."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Yang, S., Koo, B., Lee, S., Jang, D.-J., Shin, H., Choi, H.-J., and Kim, Y. (2024). Determination of Gait Events and Temporal Gait Parameters for Persons with a Knee\u2013Ankle\u2013Foot Orthosis. Sensors, 24.","DOI":"10.3390\/s24030964"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"10935","DOI":"10.1021\/acs.analchem.5b03003","article-title":"Detection of Various Microplastics in Patients Undergoing Cardiac Surgery","volume":"87","author":"Fang","year":"2015","journal-title":"Anal. Chem."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"10911","DOI":"10.1021\/acs.est.2c07179","article-title":"Detection of Various Microplastics in Patients Undergoing Cardiac Surgery","volume":"57","author":"Yang","year":"2023","journal-title":"Environ. Sci. Technol."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Laic, G., Firouzi, M., Claeys, R., Bautmans, I., Swinnen, E., and Beckw\u00e9e, D. (2024). A State-of-the-Art of Exoskeletons in Line with the WHO\u2019s Vision on Healthy Aging: From Rehabilitation of Intrinsic Capacities to Augmentation of Functional Abilities. Sensors, 24.","DOI":"10.3390\/s24072230"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Wang, X., Wang, H., Zhang, B., Zheng, D., Yu, H., Cheng, B., and Niu, J. (2024). A Multistage Hemiplegic Lower-Limb Rehabilitation Robot: Design and Gait Trajectory Planning. Sensors, 24.","DOI":"10.3390\/s24072310"},{"key":"ref_19","first-page":"80","article-title":"Microprocessor System for Measuring Pressure between Orthosis and Foot","volume":"1","author":"Hussein","year":"2023","journal-title":"Syst. Methods Technol."},{"key":"ref_20","first-page":"30","article-title":"Measurement of Force Parameters for Human Gait Research","volume":"2","author":"Hussein","year":"2023","journal-title":"Syst. Methods Technol."},{"key":"ref_21","first-page":"246","article-title":"Microprocessor System of the Human Movement Parameters Control","volume":"24","author":"Hussein","year":"2023","journal-title":"Assem. Mech. Eng. Instrum. Eng."},{"key":"ref_22","unstructured":"(2024, May 01). 4th International Scientific Conference of Engineering Sciences and Advances Technologies (IICESAT). Available online: http:\/\/2022.iicesat.com\/."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Perry, J. (1992). Gait Analysis: Normal and Pathological Function, SLACK Inc.","DOI":"10.1097\/01241398-199211000-00023"},{"key":"ref_24","unstructured":"Eversmann, W., Fisk, J., Goldberg, B., Hsu, J., Lonstein, J., Michael, J., and Moore, T. (1997). Normal and Pathological Gait. Atlas of Orthoses and Assistive Devices, Mosby."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/3\/832\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T10:38:47Z","timestamp":1759919927000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/3\/832"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,30]]},"references-count":24,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2025,2]]}},"alternative-id":["s25030832"],"URL":"https:\/\/doi.org\/10.3390\/s25030832","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,30]]}}}