Development of a Lower Limb Exoskeleton for Gait Rehabilitation in Hemiparetic Patients

Abstract

Hemiparetic gait following stroke presents substantial challenges for rehabilitation and mobility, often characterized by asymmetric kinematics, spasticity, and reduced functional independence. To address the limitations of conventional exoskeletons-typically designed for spinal cord injury patients with symmetric gait assumptions-we developed RoboWear20, a wearable robotic system tailored to the unique biomechanics of hemiplegic individuals. RoboWear20 features side-specific torque actuation using asymmetric motor configurations (AK80-64 for the paretic limb and AK70-10 for the sound limb), a three-layer adaptive control framework (gravity compensation, PD control, and disturbance observation), and a dual-interface system that allows both patients and therapists to interact with the robot in real time via smartwatch and smartpad, respectively. A preliminary usability study with five chronic stroke patients (FAC level 3) confirmed safe and comfortable operation, with highest ratings in joint alignment and end-of-walk posture recovery. However, user feedback also revealed limitations in static balance, suggesting the need for future improvements in postural control. These findings demonstrate the feasibility and clinical potential of RoboWear20 as a personalized, scalable solution for gait rehabilitation and daily assistance in post-stroke populations.