Design of Knee Exoskeleton Based on Cross Four-Bar Linkage

This paper presents a design for a bionic knee exoskeleton based on a cross four-bar linkage mechanism, aimed at providing better support and stability for the wearer while reducing the load on the knee joint. The design fully considers the structural and functional characteristics of the human knee joint. Through parameter optimization and kinematic analysis of the cross four-bar linkage mechanism, the bionic knee exoskeleton is able to accurately simulate the motion process of a normal knee joint, thereby alleviating issues related to load and wear during later-stage rehabilitation training. Using Adams software, simulation analyses of the bionic knee exoskeleton were conducted. The simulation results indicate that the motor-driven knee joint, joint rotation angles, angular velocities, and particle displacements are all within the movement range suitable for rehabilitation training. Experimental results demonstrate that the designed cross four-bar linkage-based exoskeleton device exhibits good motion stability and load-bearing capacity, effectively assisting the flexion and extension movements of the knee joint. This research not only provides a theoretical foundation for the design of knee exoskeletons but also opens new avenues for the development of related technologies.