Optimal design of a cross four-bar knee mechanism

The aim of this study is to optimize the design of a crossed four-bar mechanism (CFBM) capable of replicating the flexion and extension movements of the knee joint in the sagittal plane. An optimization method is proposed, and the results demonstrate the feasibility of achieving minimal tracking error. These findings demonstrate the efficiency of the proposed optimization methodology for the optimal synthesis of CFBM, which outperforms methods available in the literature.