{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T23:50:41Z","timestamp":1790639441044,"version":"4.1.0"},"reference-count":63,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T00:00:00Z","timestamp":1762387200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Science Committee of the Ministry of Science and Higher Education of the Republic of Kazakhstan","award":["IRN AP22688590"],"award-info":[{"award-number":["IRN AP22688590"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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\u00b0 for dorsiflexion\/plantarflexion movements and 12.8\u00b0 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.<\/jats:p>","DOI":"10.3390\/s25216784","type":"journal-article","created":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T09:02:03Z","timestamp":1762419723000},"page":"6784","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Research and Experimental Testing of a Remotely Controlled Ankle Rehabilitation Exoskeleton Prototype"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2945-8213","authenticated-orcid":false,"given":"Assylbek","family":"Ozhiken","sequence":"first","affiliation":[{"name":"Institute of Mechanics and Engineering named after Academician U.A. Joldasbekov, Almaty 050010, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2762-473X","authenticated-orcid":false,"given":"Gani","family":"Sergazin","sequence":"additional","affiliation":[{"name":"School of Information Sciences, University of Illinois at Urbana-Champaign, Champaign, IL 61820, USA"},{"name":"ALT University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2026-5295","authenticated-orcid":false,"given":"Kassymbek","family":"Ozhikenov","sequence":"additional","affiliation":[{"name":"Department of Robotics and Technical Tools of Automation, Satbayev University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1826-4069","authenticated-orcid":false,"given":"Haohan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information Sciences, University of Illinois at Urbana-Champaign, Champaign, IL 61820, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3358-1182","authenticated-orcid":false,"given":"Nursultan","family":"Zhetenbayev","sequence":"additional","affiliation":[{"name":"Department of Robotics and Technical Tools of Automation, Satbayev University, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2044-8027","authenticated-orcid":false,"given":"Gulzhamal","family":"Tursunbayeva","sequence":"additional","affiliation":[{"name":"Department of Information Security, Eurasian National University, Astana 10000, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7570-8306","authenticated-orcid":false,"given":"Asset","family":"Nurmangaliyev","sequence":"additional","affiliation":[{"name":"Department of Information Technologies, \u201cQ\u201d University, Almaty 050026, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-6728-0748","authenticated-orcid":false,"given":"Arman","family":"Uzbekbayev","sequence":"additional","affiliation":[{"name":"Research Institute of Applied Science and Technologies, Almaty 050013, Kazakhstan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,6]]},"reference":[{"key":"ref_1","unstructured":"UN Sustainable Development Goals (2025, August 04). United Nations Department of Economic and Social Affairs. Goal 3: Ensure Healthy Lives and Promote Well-Being for All at All Ages., Available online: https:\/\/www.un.org\/sustainabledevelopment\/health."},{"key":"ref_2","unstructured":"United Nations (2023). The Sustainable Development Goals Report 2023: Special Edition\u2014Towards a Rescue Plan for People and Planet, United Nations. Available online: https:\/\/unstats.un.org\/sdgs\/report\/2023."},{"key":"ref_3","unstructured":"World Health Organization (2025). A Global Health Strategy for 2025\u20132028: Advancing Equity and Resilience in a Turbulent World (Fourteenth General Programme of Work), World Health Organization. Available online: https:\/\/www.who.int\/publications\/b\/74927."},{"key":"ref_4","unstructured":"(2025, August 04). Institute for Health Metrics and Evaluation: GBD Compare. Available online: https:\/\/vizhub.healthdata.org\/gbd-compare."},{"key":"ref_5","unstructured":"(2025, July 31). Cardiovascular diseases (CVDs): Key Facts. Available online: https:\/\/www.who.int\/news-room\/fact-sheets\/detail\/cardiovascular-diseases-(cvds)."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Gomez-Vargas, D., Ballen-Moreno, F., Barria, P., Aguilar, R., Azor\u00edn, J.M., Munera, M., and Cifuentes, C.A. (2021). The Actuation System of the Ankle Exoskeleton T-FLEX: First Use Experimental Validation in People with Stroke. Brain Sci., 11.","DOI":"10.3390\/brainsci11040412"},{"key":"ref_7","unstructured":"(2022, December 02). Disability: Global Report on Health Equity for Persons with Disabilities. Available online: https:\/\/www.who.int\/publications\/i\/item\/9789240063600."},{"key":"ref_8","unstructured":"World Health Organization (2023, November 02). Cardiovascular Diseases. Available online: https:\/\/www.who.int\/health-topics\/cardiovascular-diseases#tab=tab_1."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"3341","DOI":"10.1109\/TNSRE.2023.3304758","article-title":"Current Topics in Technology-Enabled Stroke Rehabilitation and Reintegration: A Scoping Review and Content Analysis","volume":"31","author":"Cisek","year":"2023","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"100135","DOI":"10.1016\/j.jnrt.2024.100135","article-title":"Virtual Reality as a Non-Conventional Rehabilitation for Stroke: A Comprehensive Review","volume":"12","author":"Hussain","year":"2024","journal-title":"J. Neurorestoratol."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Nolan, K.J., Ames, G.R., Dandola, C.M., Breighner, J.E., Franco, S., Karunakaran, K.K., and Saleh, S. (2023, January 24\u201327). Intensity Modulated Exoskeleton Gait Training Post Stroke. Proceedings of the 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Sydney, Australia.","DOI":"10.1109\/EMBC40787.2023.10340452"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"100233","DOI":"10.1016\/j.ahr.2025.100233","article-title":"Virtual Reality-Based Robotic Training for Lower Limb Rehabilitation in Stroke Patients with Hemiplegia: A Pilot Study","volume":"5","author":"Chen","year":"2025","journal-title":"Aging Health Res."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1016\/j.healthpol.2021.09.010","article-title":"Exploration of Current Challenges in Rehabilitation from the Perspective of Healthcare Professionals: Switzerland as a Case in Point","volume":"126","author":"Spiess","year":"2022","journal-title":"Health Policy"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1213","DOI":"10.1109\/TNSRE.2021.3090571","article-title":"Determining Factors that Influence Adoption of New Post-Stroke Sensorimotor Rehabilitation Devices in the USA","volume":"29","author":"Morrow","year":"2021","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_15","first-page":"6","article-title":"AI and stroke rehabilitation: The past, present and future","volume":"1","author":"Zhang","year":"2025","journal-title":"Regenesis Repair Rehabil."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Moscatelli, N., Brambilla, C., Lanzani, V., Tosatti, L.M., and Scano, A. (2025). Assessing Transparency of Robots, Exoskeletons, and Assistive Devices: A Systematic Review. Sensors, 25.","DOI":"10.3390\/s25144444"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Andersson, R., Bermejo-Garc\u00eda, J., and Chilo, J. (2024, January 23\u201326). Exploring the Influence of a Passive Exoskeleton on Range of Motion and Step Length During Walking. Proceedings of the 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), Kristiansand, Norway.","DOI":"10.1109\/ICIEA61579.2024.10665200"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Cabrera-Brito, M.E., Carcel\u00e9n-Fraile, M.d.C., Aibar-Almaz\u00e1n, A., Hita-Contreras, F., Vico-Rodr\u00edguez, P., Cano-Orihuela, M., and Castellote-Caballero, Y. (2025). Effect of Lokomat\u00ae Robotic Rehabilitation on Balance, Postural Control, and Functional Independence in Subacute and Chronic Stroke Patients: A Quasi-Experimental Study. Med. Sci., 13.","DOI":"10.3390\/medsci13030157"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Pota\u0161ov\u00e1, M., Ma\u010dej, P., Morau\u010d\u00edkov\u00e1, E., Ba\u0148\u00e1rov\u00e1, P.S., and Kuti\u0161, P. (2025). Lokomat vs. Conventional Therapy\u2014Impact on Gait Symmetry in Hemiparetic Patients: Preliminary Clinical Study. Healthcare, 13.","DOI":"10.3390\/healthcare13080929"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1186\/s12984-025-01624-w","article-title":"A wearable ankle-assisted robot for improving gait function and pattern in stroke patients","volume":"22","author":"Lee","year":"2025","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Arias Guadalupe, J., Pereira-Cabral Perez, A., Blanco Rojas, D., and Copaci, D. (2025). A Lightweight Soft Exosuit for Elbow Rehabilitation Powered by a Multi-Bundle SMA Actuator. Actuators, 14.","DOI":"10.3390\/act14070337"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Liu, J., Fang, H., and Xu, J. (2022). Online Adaptive PID Control for a Multi-Joint Lower Extremity Exoskeleton System Using Improved Particle Swarm Optimization. Machines, 10.","DOI":"10.3390\/machines10010021"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Su, Z., Gao, W., and Gao, Y. (2024, January 22\u201324). Research and Design of a Lower Limb Rehabilitation Exoskeleton Robot Driven by Cables. Proceedings of the 2024 IEEE International Conference on Signal, Information and Data Processing (ICSIDP), Zhuhai, China.","DOI":"10.1109\/ICSIDP62679.2024.10868286"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Andersson, R., Cronhjort, M., and Chilo, J. (2024). Wireless PID-Based Control for a Single-Legged Rehabilitation Exoskeleton. Machines, 12.","DOI":"10.3390\/machines12110745"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Shafi, F., Aftab, Z., Hanif, M.A., and Ali, Z. (2021, January 3\u20135). A Lower-Body Exoskeleton Platform with Remote Actuation. Proceedings of the 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Chongqing, China.","DOI":"10.1109\/ICARM52023.2021.9536195"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"102200","DOI":"10.1016\/j.simpat.2020.102200","article-title":"Medical Exoskeleton \u201cRemotion\u201d with an Intelligent Control System: Modeling, Implementation, and Testing","volume":"107","author":"Kagirov","year":"2021","journal-title":"Simul. Model. Pract. Theory"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Aktan, M.E., Falkowski, P., Zawalski, K., Jeznach, K., \u00d6m\u00fcrl\u00fc, V.E., and Akdo\u011fan, E. (2025, January 24\u201326). Design and PID Control of a Lower Limb Exoskeleton for Virtual Reality-Based Telerehabilitation. Proceedings of the 2025 11th International Conference on Mechatronics and Robotics Engineering (ICMRE), Lille, France.","DOI":"10.1109\/ICMRE64970.2025.10976239"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Ghezal, M., Guiatni, M., Boussioud, I., and Renane, C.S. (2018, January 17\u201318). Design and Robust Control of a 2 DOFs Lower Limb Exoskeleton. Proceedings of the 2018 International Conference on Communications and Electrical Engineering (ICCEE), El Oued, Algeria.","DOI":"10.1109\/CCEE.2018.8634540"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Belov, M.P., Dang Truong, D., and Khoa, T.D. (2022, January 25\u201328). Self-Tuning Subordinate Control System Based on Neural Network for Nonlinear Electric Drivers of Lower Limbs of Exoskeleton. Proceedings of the 2022 Conference of Russian Young Researchers in Electrical and Electronic Engineering (ElConRus), Saint Petersburg, Russia.","DOI":"10.1109\/ElConRus54750.2022.9755511"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"101582","DOI":"10.1016\/j.mex.2021.101582","article-title":"Development of a DIY Rehabilitation Device for Lower Limb Weakness in Acute to Subacute Ischemic Stroke","volume":"9","author":"Tangmanee","year":"2022","journal-title":"MethodsX"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Leerskov, K.S., Rikhof, C.J.H., Spaich, E.G., Dosen, S., Prange-Lasonder, G.B., Prinsen, E.C., Rietman, J.S., and Struijk, L.N.S.A. (2024). A Robot-Based Hybrid Lower Limb System for Assist-As-Needed Rehabilitation of Stroke Patients: Technical Evaluation and Clinical Feasibility. Comput. Biol. Med., 179.","DOI":"10.1016\/j.compbiomed.2024.108839"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1016\/j.procs.2017.01.204","article-title":"The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach","volume":"105","author":"Majeed","year":"2017","journal-title":"Procedia Comput. Sci."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Flor-Unda, O., Arcos-Reina, R., Toapanta, C., Villao, F., Bustos-Estrella, A., Suntaxi, C., and Palacios-Cabrera, H. (2025). Challenges in the Development of Exoskeletons for People with Disabilities. Technologies, 13.","DOI":"10.3390\/technologies13070291"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Falkowski, P., Osiak, T., Wilk, J., Prokopiuk, N., Leczkowski, B., Pilat, Z., and Rzymkowski, C. (2023). Study on the Applicability of Digital Twins for Home Remote Motor Rehabilitation. Sensors, 23.","DOI":"10.3390\/s23020911"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"51168","DOI":"10.1109\/ACCESS.2020.2973373","article-title":"Autonomous Assistance-as-Needed Control of a Lower Limb Exoskeleton with Guaranteed Stability","volume":"8","author":"Campbell","year":"2020","journal-title":"IEEE Access"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"9919","DOI":"10.1109\/ACCESS.2017.2690407","article-title":"First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons","volume":"5","author":"Agrawal","year":"2017","journal-title":"IEEE Access"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"61311","DOI":"10.1109\/ACCESS.2020.2983790","article-title":"A Wearable Soft Knee Exoskeleton Using Vacuum-Actuated Rotary Actuator","volume":"8","author":"Zhang","year":"2020","journal-title":"IEEE Access"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"72221","DOI":"10.1109\/ACCESS.2019.2920134","article-title":"Personalised Control of Robotic Ankle Exoskeleton Through Experience-Based Adaptive Fuzzy Inference","volume":"7","author":"Yin","year":"2019","journal-title":"IEEE Access"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"2028","DOI":"10.1109\/TNSRE.2023.3267062","article-title":"Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton","volume":"31","author":"Sun","year":"2023","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_40","first-page":"101097","article-title":"A Robust Adaptive-Fuzzy-Proportional-Derivative Controller for a Rehabilitation Lower Limb Exoskeleton","volume":"35","author":"Aliman","year":"2022","journal-title":"Eng. Sci. Technol. Int. J."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"114","DOI":"10.1016\/j.cogr.2025.02.001","article-title":"Rehab-Bot: A Home-Based Lower-Extremity Rehabilitation Robot for Muscle Recovery","volume":"5","author":"Mihradi","year":"2025","journal-title":"Cogn. Robot."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"100277","DOI":"10.1016\/j.slast.2025.100277","article-title":"Application Effect of Rehabilitation Robots in Rehabilitation of Limb Movement Disorders Based on Neural Network Algorithms","volume":"32","author":"Han","year":"2025","journal-title":"SLAS Technol."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"103327","DOI":"10.1016\/j.msksp.2025.103327","article-title":"The Effect of Tele-Rehabilitation Under a Comprehensive Exercise Program on the Function of Patients with Chronic Ankle Instability: A Randomized Controlled Trial","volume":"78","author":"Yang","year":"2025","journal-title":"Musculoskelet. Sci. Pract."},{"key":"ref_44","doi-asserted-by":"crossref","unstructured":"Boltaboyeva, A., Baigarayeva, Z., Imanbek, B., Ozhikenov, K., Getahun, A.J., Aidarova, T., and Karymsakova, N. (2025). A Review of Innovative Medical Rehabilitation Systems with Scalable AI-Assisted Platforms for Sensor-Based Recovery Monitoring. Appl. Sci., 15.","DOI":"10.3390\/app15126840"},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Li, J., Jiang, H., Gao, M., Li, S., Wang, Z., Pang, Z., Zhang, Y., and Jiao, Y. (2025). Research on Iterative Learning Method for Lower Limb Exoskeleton Rehabilitation Robot Based on RBF Neural Network. Appl. Sci., 15.","DOI":"10.3390\/app15116053"},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Chen, L., Huang, J., Wang, Y., Guo, S., Wang, M., and Guo, X. (2024). Adaptive Patient-Cooperative Compliant Control of Lower Limb Rehabilitation Robot. Biomim. Intell. Robot., 4.","DOI":"10.1016\/j.birob.2024.100155"},{"key":"ref_47","first-page":"105976","article-title":"A Multi-Indicator Evaluation Method for Human-Machine Effectiveness of Lower Limb Wearable Exoskeleton. Biomed. Signal Process","volume":"91","author":"Chen","year":"2024","journal-title":"Control"},{"key":"ref_48","doi-asserted-by":"crossref","unstructured":"Miner, T.M., Anderson, M.B., Van Andel, D.C., Neher, R.E., Redfern, R.E., and Duwelius, P.J. (2024). Evaluating Self-Directed Rehabilitation for Knee and Hip Arthroplasty During the COVID-19 Pandemic: A Multicenter Study. Med. Sci., 12.","DOI":"10.3390\/medsci12040069"},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Popa, M.V., Gurzu, I.L., Handra, C.M., Gurzu, B., Ple\u0219ea Condratovici, A., Duceac, M., Elkan, E.M., M\u00eendru, D.E., Dabija, V.A., and Duceac, L.D. (2025). Impact of the COVID-19 Pandemic on Musculoskeletal Disorder-Related Absenteeism Among Pediatric Healthcare Workers. Healthcare, 13.","DOI":"10.3390\/healthcare13101116"},{"key":"ref_50","doi-asserted-by":"crossref","unstructured":"Shakeriaski, F., and Mohammadian, M. (2025). Enhancing Upper Limb Exoskeletons Using Sensor-Based Deep Learning Torque Prediction and PID Control. Sensors, 25.","DOI":"10.3390\/s25113528"},{"key":"ref_51","doi-asserted-by":"crossref","unstructured":"Hasan, S., and Alam, N. (2025). Comprehensive Comparative Analysis of Lower Limb Exoskeleton Research: Control, Design, and Application. Actuators, 14.","DOI":"10.20944\/preprints202505.2023.v2"},{"key":"ref_52","first-page":"151","article-title":"Design and Performance of the New Ankle Joint Exoskeleton","volume":"12","author":"Zhetenbayev","year":"2023","journal-title":"Int. J. Mech. Eng. Robot. Res."},{"key":"ref_53","doi-asserted-by":"crossref","unstructured":"Xie, X., Styles, I., Powathil, G., and Ceccarelli, M. (2024). Development of a Control Algorithm for an Ankle Joint Rehabilitation Device. Artificial Intelligence in Healthcare, Springer. Lecture Notes in Computer Science.","DOI":"10.1007\/978-3-031-67285-9"},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Sergazin, G., Zhetenbayev, N., Tursunbayeva, G., Uzbekbayev, A., Sarina, A., Nurgizat, Y., and Nussibaliyeva, A. (2024). Design, Simulation and Functional Testing of a Novel Ankle Exoskeleton with 3DOFs. Sensors, 24.","DOI":"10.20944\/preprints202408.0901.v1"},{"key":"ref_55","doi-asserted-by":"crossref","unstructured":"Sergazin, G., Ozhiken, A., Zhetenbayev, N., Ozhikenov, K., Tursunbayeva, G., Nurgizat, Y., Uzbekbayev, A., and Ayazbay, A.-A. (2025). Development of an Ankle Exoskeleton: Design, Modeling, and Testing. Sensors, 25.","DOI":"10.3390\/s25072020"},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Rose, M.J., Flanagan, W., Peterson, B.T., Steffler, P.K., Tran, B.T., Su, L., Humann, R.G., and Clites, T.R. (2025). The Impact of Ankle Range of Motion on Lower-Limb Gait Biomechanics. J. Biomech., 189.","DOI":"10.1016\/j.jbiomech.2025.112811"},{"key":"ref_57","first-page":"105654","article-title":"A Methodology to Restrict the Range of Motion of Joints: Application to the Ankle Joint Complex. Mech. Mach","volume":"198","author":"Silva","year":"2024","journal-title":"Theory"},{"key":"ref_58","unstructured":"(2014). Robots and Robotic Devices\u2014Safety Requirements for Personal Care Robots (Standard No. ISO 13482:2014). Available online: https:\/\/www.iso.org\/standard\/53820.html."},{"key":"ref_59","unstructured":"(2019). Medical Devices\u2014Application of Risk Management to Medical Devices (Standard No. ISO 14971:2019). Available online: https:\/\/www.iso.org\/standard\/72704.html."},{"key":"ref_60","unstructured":"(2019). Medical Electrical Equipment\u2014Part 2\u201378: Particular Requirements for Basic Safety and Essential Performance of Medical Robots for Rehabilitation, Assessment, Compensation or Alleviation (Standard No. IEC 80601-2-78:2019). Available online: https:\/\/www.iso.org\/standard\/68474.html."},{"key":"ref_61","unstructured":"(2020). Medical Electrical Equipment\u2014Part 1: General Requirements for Basic Safety and Essential Performance (Standard No. IEC 60601-1:2020). Available online: https:\/\/webstore.iec.ch\/en\/publication\/67497."},{"key":"ref_62","unstructured":"(2018). Biological Evaluation of Medical Devices\u2014Part 1: Evaluation and Testing Within a Risk Management Process (Standard No. ISO 10993-1:2018). Available online: https:\/\/www.iso.org\/standard\/68936.html."},{"key":"ref_63","unstructured":"(2017). Processing of Health Care Products\u2014Information to Be Provided by the Medical Device Manufacturer for the Processing of Medical Devices (Standard No. ISO 17664:2017). Available online: https:\/\/www.iso.org\/standard\/66364.html."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/21\/6784\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T09:06:07Z","timestamp":1762419967000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/25\/21\/6784"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,6]]},"references-count":63,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2025,11]]}},"alternative-id":["s25216784"],"URL":"https:\/\/doi.org\/10.3390\/s25216784","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,6]]}}}