Abstract. This paper presents the design and experimental evaluation of an exoskeleton device intended for the rehabilitation of the elbow joint’s pronation/supination motion. Accurately and safely performing this type of movement remains one of the main technical challenges in rehabilitation exoskeletons, as it involves complex biomechanical interactions and rotational motion of the forearm bones. Within the scope of the project, a CAD model with two degrees of freedom (DOF) was developed in SolidWorks. A physical prototype was then fabricated, and laboratory testing was conducted for one DOF – the pronation/supination motion. The accuracy of motion execution was recorded using an IMU sensor, and control performance was evaluated.
The proposed device is intended for use in the rehabilitation process of patients with neurological disorders, including restoring neuromotor functions after stroke and correcting elbow joint contractures. Experimental results demonstrate the suitability of the device for rehabilitation applications.

Keywords: elbow exoskeleton, pronation-supination, rehabilitation robotics, CAD model, IMU sensor, 2 DOF exoskeleton.