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This paper presents the design of AlmatyExoElbow, a lightweight cable-driven exoskeleton designed to support elbow motion in rehabilitation and assistance applications. The device is based on the principles used in L-CADEL-type systems, including a compact mechatronic structure, ergonomic design, and modular architecture. Unlike earlier single-DOF solutions, AlmatyExoElbow implements two DOFs (flexion/extension and pronation/supination), which increases the functional relevance for daily activities. Special attention is paid to anthropometric adaptation for the local population and feedback from regional experts. The paper presents a detailed biomechanical consideration and design requirements for the device. A 3D CAD model and kinematic diagram are provided, which serve as a basis for future experimental validation.

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Design Issues for AlmatyExoElbow Assisting Device

  • 会议论文

  • 发表日期：

    2026年

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  • Dauren Bizhanov,
  • Marco Ceccarelli,
  • Matteo Russo

摘要

This paper presents the design of AlmatyExoElbow, a lightweight cable-driven exoskeleton designed to support elbow motion in rehabilitation and assistance applications. The device is based on the principles used in L-CADEL-type systems, including a compact mechatronic structure, ergonomic design, and modular architecture. Unlike earlier single-DOF solutions, AlmatyExoElbow implements two DOFs (flexion/extension and pronation/supination), which increases the functional relevance for daily activities. Special attention is paid to anthropometric adaptation for the local population and feedback from regional experts. The paper presents a detailed biomechanical consideration and design requirements for the device. A 3D CAD model and kinematic diagram are provided, which serve as a basis for future experimental validation.