Paper, A new bio-inspired joint model to design robotic exoskeletons

Most exoskeletons have been created using a model based on a fixed- axis rotating hinge, which does not reflect the way human joints rotate and can restrict movements of those wearing them. An alternative model for fabricating exoskeletons to recreate the motion of human joints entails using n-bar linkages; however, their excessive use can lead to a loose and unstable exoskeleton. As a result, these unstable skeletons are not suitable for rehabilitating patients with injured limbs. Recent advancements in robotics have enabled the fabrication of more robust and stable exoskeletons inspired by arthropods. Researchers at Xi’an Jiaotong University in China have recently proposed a new joint model inspired by arthropods and based on the anatomy of grasshopper joints, which consist of a pair of conjugate surfaces and a flexible connection body. Using their model, they created a prototype joint for exoskeletons using an optimization algorithm, and they evaluated its performance and kinematic characteristics. The experiments confirmed their model’s feasibility for devising bionic robotic systems and its advantageous characteristics. In the future, this model can be used to build more effective exoskeletons for the purpose of rehabilitation or enhancement of human capabilities. Additionally, it could allow humans to move more freely and naturally, while ensuring support.

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