Design Evolution and Experimental Validation of the AlmatyExoElbow Assisting Device

This paper presents the design, prototype, and experimental evaluation of the AlmatyExoElbow, a lightweight cable-driven robotic exoskeleton that is intended to support elbow joint rehabilitation. The device provides two active degrees of freedom for flexion/extension and pronation/supination. It also incorporates a sensor-based control system for accurate motion tracking. The mechanical structure is fabricated using 3D-printed PLA plastic, resulting in a compact, modular, and comfortable design suitable for prolonged use. The control architecture is based on an Arduino Nano microcontroller integrated with IMU sensors, enabling the real-time monitoring of elbow motion and the precise reproduction of physiologically relevant movement patterns. The results of experimental testing demonstrate smooth and stable operation, confirming reliable torque transmission through antagonistic cable mechanisms. Overall, the proposed design achieves a balanced combination of functionality, portability, and user comfort, highlighting its potential for upper-limb rehabilitation applications in both clinical and home-based settings.