Design, Development, and Experimental Evaluation of an Intelligent Dynamic Balance Rehabilitation Platform for Stroke and Multiple Sclerosis Patients

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 Design, Development, and Experimental Evaluation of an Intelligent Dynamic Balance Rehabilitation Platform for Stroke and Multiple Sclerosis Patients

Shahinaz H. Abdelraouf*1, Khadija A. Abdelhamed1, and Moaez T Anwar1 1 Robotics, Autonomous and Interactive Systems program, Faculty of Engineering, MUC University in Cairo, Cairo, Egypt. * Corresponding author’s email: shahinaz.mohamed@muc.edu.eg https://doi.org/ 10.21608/ijeasou.2026.518132.1141 Received: 2 August 2026 Accepted: 30 August 2026 Published: 31 August 2026 

 Abstract: 

Balance impairment is one of the most disabling consequences of stroke and Multiple Sclerosis (MS), significantly increasing risk and reducing patients' functional independence and quality of life. Conventional balance rehabilitation approaches are largely therapist-dependent and provide limited objective assessment and real-time adaptive feedback. This paper presents the design, implementation, and preliminary evaluation of an Intelligent Dynamic Balance Rehabilitation Platform for neurological rehabilitation. The proposed system integrates a motorized tilting platform driven by DC Linear Actuators, an ESP32 dual-core microcontroller implementing closed-loop PID control, and a multi-sensor subsystem comprising an MPU-6050 inertial measurement unit (IMU), two custom force-sensitive resistor (FSR) sensors, and a load cell for monitoring platform orientation, bilateral plantar force, and patient loading conditions. Rehabilitation data are transmitted wirelessly via Wi-Fi to a tablet-based graphical user interface for real-time visualization and monitoring. The platform incorporates complementary-filter-based sensor fusion for tilt estimation and is intended to provide dynamic balance training through closed-loop angle regulation. A preliminary, single-session bench evaluation with an able-bodied tester indicates successful integration of the mechanical structure, embedded control system, sensing subsystem, and wireless monitoring interface into a functional rehabilitation prototype. Under the tested static loading conditions, the system exhibited closed loop tilt control without observed oscillation, real-time acquisition of orientation and bilateral force measurements, and continuous wireless monitoring of rehabilitation parameters. In a representative single trial recorded across five loading conditions (neutral, forward, backward, left, right), the bilateral FSR sensors registered a peak differential of up to 460 N in the loaded direction, the load cell reading ranged from 462 N to 790 N, and the IMU reported pitch and roll excursions of up to +8°/−7° and +9°/−8°, respectively; these values are single-trial point measurements, not averages over repeated trials, and no independent reference instrument, uncertainty budget, or inferential statistics were applied at this stage. No stroke or Multiple Sclerosis patients were involved in testing. These preliminary findings indicate the technical feasibility of the proposed prototype and provide a foundation for future quantitative validation, safety certification, and clinical evaluation with the target patient population.