Experimental Testing of a Rotational Self-Turning Mechanism for Exoskeleton Knee Joint

This study focuses on the design, fabrication and experimental testing of a rotational self-turning mechanism for exoskeleton knee joints, aiming to develop a mechanism that allows for natural and efficient movement in individuals with mobility impairments. The proposed mechanism incorporates a rotational self-turning feature, enabling the exoskeleton to adapt and rotate based on the desired movements of the user. The study further explores the calculation of spring stiffness as an essential factor in achieving the desired self-turning mechanism of the knee joint. Calculating the spring stiffness helps to achieve a balance between providing sufficient support and ensuring user comfort. An exoskeleton with adjustable spring stiffness can better adapt to the specific movements and needs of the user, enhancing the overall user experience. The analysis of the knee joint control system from readings of the Arduino software shows a percentage error of approximately $17 \%$ between the desired and experimental knee angles, indicating a deviation of 0.1 radians at peak performance, which shows an efficiency of about ${8 3 \%}$.