Design and Verification of Bio-mimetic Knee Joint Mechanism for Exoskeletal robots

Abstract

A novel knee joint mechanism that mimics knee anatomy has been proposed to reduce misalignment. It consists of curved guide rails and bearings. The curve is designed based on human motion data. In this paper, the single pin joint and the proposed biomimetic joint are compared through experiments using pressure sensors. Pressure data between the human body and the frame was measured. The results showed that the bio-mimetic knee joint could improve the wearability by reducing misalignment