{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T15:02:30Z","timestamp":1767193350297,"version":"3.48.0"},"reference-count":57,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,12,26]],"date-time":"2025-12-26T00:00:00Z","timestamp":1766707200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union\u2014NextGenerationEU and Romanian Government under the National Recovery and Resilience Plan for Romania","award":["760071\/23.05.2023"],"award-info":[{"award-number":["760071\/23.05.2023"]}]},{"name":"European Union\u2014NextGenerationEU and Romanian Government under the National Recovery and Resilience Plan for Romania","award":["121\/15.11.2022"],"award-info":[{"award-number":["121\/15.11.2022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Bioengineering"],"abstract":"<jats:p>This study presents the clinical trial readiness and optimization of a parallel robotic system developed for early-stage lower limb rehabilitation of bedridden patients using feedback from healthy users and clinicians. The system combines a parallel hip\u2013knee mechanism with a Bowden cable-driven ankle module, both actuated by servomotors and controlled through a PLC platform. Experimental tests were performed in laboratory conditions with twenty healthy participants (aged 25\u201345) and ten clinicians, focusing on safety, ergonomics, clinical usability, and comfort through structured questionnaires. The responses were quantified and analyzed using a Mamdani-type fuzzy logic model, allowing subjective feedback to be converted into objective redesign priorities. Safety, torque capacity, and adaptability emerged as the key areas that need improvement. Subsequent mechanical and structural refinements resulted in substantial gains in user comfort, perceived safety, and clinician-reported applicability. The optimized robotic system demonstrates enhanced functionality and improved readiness for clinical evaluation, highlighting the benefit of incorporating fuzzy logic-based feedback into the development of rehabilitation robots.<\/jats:p>","DOI":"10.3390\/bioengineering13010026","type":"journal-article","created":{"date-parts":[[2025,12,29]],"date-time":"2025-12-29T00:50:42Z","timestamp":1766969442000},"page":"26","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Towards Clinical Trial Readiness: Optimization of a Parallel Robot for Lower Limb Rehabilitation"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5660-8259","authenticated-orcid":false,"given":"Paul","family":"Tucan","sequence":"first","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2398-9715","authenticated-orcid":false,"given":"Oana Maria","family":"Vanta","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"Neurology I Department, Cluj-Napoca Emergency Clinical County Hospital, 400012 Cluj-Napoca, Romania"},{"name":"Neurology Department, University of Medicine and Pharmacy \u201cIuliu Hatieganu\u201d, 400012 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1257-4127","authenticated-orcid":false,"given":"Alin","family":"Horsia","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-0483-7691","authenticated-orcid":false,"given":"Ionut","family":"Zima","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"given":"David Mihai","family":"Lupu","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2822-9790","authenticated-orcid":false,"given":"Calin","family":"Vaida","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"given":"Daniela","family":"Jucan","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4917-2474","authenticated-orcid":false,"given":"Jos\u00e9","family":"Machado","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"MEtRICs Research Centre, School of Engineering, University of Minho, Campus of Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7014-9431","authenticated-orcid":false,"given":"Doina","family":"Pisla","sequence":"additional","affiliation":[{"name":"CESTER-Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union, 28 Memorandumului Street, 400114 Cluj-Napoca, Romania"},{"name":"Technical Sciences Academy of Romania, B-dul Dacia 26, 030167 Bucharest, Romania"}]}],"member":"1968","published-online":{"date-parts":[[2025,12,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Lee, J.H., and Kim, G. 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