Abstract: Cerebrovascular accidents (CVA) cause hemiplegia in adult patients, limiting their daily activities and reducing their autonomy, which calls for effective rehabilitation systems for the lower limbs. The study aims to design and simulate a subactuated robotic continuous passive motion system for lower-limb therapy in adult patients with post-stroke hemiplegia. Physical rehabilitation protocols were analyzed, and consultations with specialists were conducted to define criteria related to safety, stability, and adaptability. The mechanical subsystem was developed using SolidWorks with an adjustable structure; the electronic subsystem was designed using Autodesk Eagle and KiCad 7 to enable precise control; and the software subsystem was implemented in Wokwi using an ESP-32 microcontroller for parameter configuration and data transmission. Simulations were conducted in CoppeliaSim, modeling a virtual patient undergoing three rehabilitation modes: knee flexion-extension, ankle flexion-extension, and a combined full knee extension cycle. Simulations validated the correct execution of the planned movements, stability of the power supply, precision in displacement control, and the ability to record and transmit therapeutic data. The strength of materials and the effectiveness of the mechanism were also confirmed. The designed subactuated robotic system represents a safe and effective tool for physical rehabilitation, with the potential to improve mobility and quality of life in patients with lower-limb hemiplegia following a CVA.

Adrian Nacarino, Carol Sandoval, Cesar Martel, Jose Cornejo, Margarita Murillo, Jeanette Borja, Josue Alata Rey and Ricardo Palomares. “Adult-Size Bio-Mechatronic Exoskeleton with Robotic Underactuated Mechanism for Continuous Passive Motion Therapy on Hemiplegic Lower Limbs”. International Journal of Advanced Computer Science and Applications (IJACSA) 16.11 (2025). http://dx.doi.org/10.14569/IJACSA.2025.0161118

@article{Nacarino2025,
title = {Adult-Size Bio-Mechatronic Exoskeleton with Robotic Underactuated Mechanism for Continuous Passive Motion Therapy on Hemiplegic Lower Limbs},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2025.0161118},
url = {http://dx.doi.org/10.14569/IJACSA.2025.0161118},
year = {2025},
publisher = {The Science and Information Organization},
volume = {16},
number = {11},
author = {Adrian Nacarino and Carol Sandoval and Cesar Martel and Jose Cornejo and Margarita Murillo and Jeanette Borja and Josue Alata Rey and Ricardo Palomares}
}