Almaty ankle exoskeleton: comparative analysis and structural improvements of versions V.1 and V.2

This paper presents a comparative analysis of the V.1 and V.2 versions of the Almaty Ankle Exoskeleton. The main objective of the study is to identify the structural and functional shortcomings observed in the first version (V.1) and to develop an improved prototype in the second version (V.2) by addressing these issues. The paper compares the kinematic schemes, CAD models, and physical prototypes of both versions, highlighting their structural differences and technical advancements. In addition, the results of a static structural analysis performed on the V.2 prototype using the Finite Element Analysis (FEA) method are presented. This analysis allowed for the evaluation of stress, strain, and displacement distribution within the structure. The results demonstrated that the exoskeleton can effectively handle applied loads, although additional reinforcement is required in certain critical regions. Overall, the findings provide a foundation for engineering solutions aimed at enhancing the functional performance of the ankle exoskeleton and its application in rehabilitation processes.