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.
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