Biomechanical analysis of active lower limb exoskeletons for gait rehabilitation in patients with stroke sequelae

This article analyzes the biomechanics of active lower limb exoskeletons applied to gait rehabilitation in patients with motor sequelae following stroke. Within this context, the clinical basis of the pathology is described, and the kinematics and kinetics inherent in human-machine interaction are rigorously evaluated. Through a review based on indexed databases (Scopus, Web of Science, PubMed), it is shown how joint torque modulation using robotic assistance optimizes neuroplasticity and corrects the asymmetries characteristic of hemiplegic gait. Keywords: Exoskeleton, biomechanics, stroke, gait rehabilitation, medical robotics.