Design and preliminary bench-level validation of a low-cost 3D-printed hip-knee exoskeleton for lower-limb rehabilitation training.

Lower-limb impairment caused by neurological injury, musculoskeletal disorders, or reduced mobility often requires repetitive rehabilitation exercises, but continuous therapist-assisted therapy may be difficult to access in low-resource settings.

The prototype was constructed mainly of 3D-printed polylactic acid parts and powered by a pair of high-torque servo motors in the hip and knee joints.

The cost of the materials used to construct the prototype is estimated to be USD 155 with a weight of about 2.1 kg.