Lower-limb impairment from neuromuscular disorders, stroke, or prolonged immobilization often causes spasticity, pain, reduced range of motion, muscle weakness, and delayed functional recovery. Effective rehabilitation requires consistent, guided therapy that supported pain relief, promoted muscle re-education, and safely maintained joint mobility. However, many existing rehabilitation options rely on expensive, clinic-based equipment that was difficult to access consistently and often fail to deliver coordinated mechanical movement and neuromuscular stimulation. These limitations reduce therapy adherence and hinder patient progress, particularly for individuals requiring long-term or home-based rehabilitation.
To address this need, we developed ExoPulseS as an integrated motor-assisted stretching and transcutaneous electrical nerve stimulation (TENS) system designed to support lower-limb rehabilitation in both clinical and at-home settings. The device synchronizes controlled mechanical stretching with charge-balanced electrical stimulation to reduce spasticity, alleviate pain, improve circulation, promote neuromuscular re-education, and maintain joint range of motion. ExoPulseS incorporates a motorized linear actuator, adjustable leg brace, biocompatible surface electrodes, and an embedded control system that coordinates stimulation delivery with joint movement while enforcing predefined safety limits.
Overall, ExoPulseS demonstrates a novel and accessible approach to lower-limb rehabilitation by integrating motorized stretching and neuromuscular electrical stimulation into a single synchronized platform. By addressing pain management, mobility preservation, and therapy accessibility, the device offers a more effective, comfortable, and consistent treatment option that expanded therapy options beyond traditional clinic-only solutions.