Bio-inspired Exoskeleton

  • Jiajie GuoEmail author
  • Kok-Meng Lee
Part of the Research on Intelligent Manufacturing book series (REINMA)


Based on the bio-joint constraint formulated in Sect. 3.4, this chapter presents an anatomically-based knee model relaxing several commonly made assumptions that approximate a human knee as engineering pin-joint in exoskeleton design. Kinematics and dynamics are studied to investigate the effects of exoskeleton designs on the knee joint forces and torques. Then, an adaptive knee-joint exoskeleton is designed to eliminate negative effects associated with the closed leg-exoskeleton kinematic chain on a human knee.


  1. 1.
    H. Iwaki, V. Pinskerova, M.A.R. Freeman, Tibiofemoral movement 1: the shapes and relative movements of the femur and tibia in the unloaded cadaver knee. J. Bone Joint Surg. 82B(8), 1189–1195 (2000)Google Scholar
  2. 2.
    T. Nomiyama, A. Lawi, T. Katsuhara, S. Hirokawa, Model analysis of lower limb at deep knee flexion, in Proceedings of the International Conference on Electrical Engineering and Informatics, Institut Teknologi Bandung, Indonesia, 2007Google Scholar
  3. 3.
    K.-M. Lee, J. Guo, Kinematic and dynamic analysis of an anatomically based knee joint. J. Biomech. 43(7), 1231–1236 (2010)CrossRefGoogle Scholar
  4. 4.
    J.-F. Zhang, Y.-M. Dong, C.-J. Yang, Y. Geng, Y. Chen, Y. Yang, 5-link model based gait trajectory adaption control strategies of the gait rehabilitation exoskeleton for post-stroke patients. Mechatronics 20(3), 368–376 (2010)CrossRefGoogle Scholar
  5. 5.
    M. Damavandi, N. Farahpour, P. Allard, Determination of body segment masses and centers of mass using a force plate method in individuals of different morphology. Med. Eng. Phys. 31(9), 1187–1194 (2009)CrossRefGoogle Scholar
  6. 6.
    Z.-K. Ling, H.-Q. Guo, S. Boersma, Analytical study on the kinematic and dynamic behaviors of a knee joint. Med. Eng. Phys. 19(1), 29–36 (1997)CrossRefGoogle Scholar

Copyright information

© Huazhong University of Science and Technology Press, Wuhan and Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhanChina
  2. 2.The George W. Woodruff School of Mechanical EngineeringGeorgia Institute of TechnologyAtlantaUSA

Personalised recommendations