Synthesis and Optimization Considerations for a Knee Orthosis Based on a Watt’s Six-Bar Linkage

  • Evagoras XydasEmail author
  • Banu Abdikadirova
  • Kostas Konstantinos
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


Employing six-bar linkages for knee orthoses is an advantageous choice in many ways. In relation to four-bar linkages the six-bar linkage tracks more accurately the natural ankle trajectory and provides more flexibility in the design for stability. Additionally, the 1-DOF mobility of linkages alongside the available moment leverage offers advantages in cost-effectiveness over open-kinematic-chain designs.

This work presents the analysis as well as the design and optimization considerations of a knee orthosis that is based on a Watt’s six-bar linkage. The main aim is to lay the foundations for analytical design and development of a knee orthosis that is cost-effective, self-cancelling and optimized for passive-active energy exchange as well as energy harvesting and return.


  1. 1.
    Mooney, L.M., Rouse, E.J., Herr, H.M.: Autonomous exoskeleton reduces metabolic cost of human walking during load carriage. J. NeuroEng. Rehabil. 13, 4 (2014)CrossRefGoogle Scholar
  2. 2.
    Collins, S.H., Wiggin, M.B., Sawicki, G.S.: Reducing the Energy Cost of Human Walking Using an Unpowered Exoskeleton (2015). Scholar
  3. 3.
    Petuya, V., Macho, E., Altuzarra, O., Pinto, C., Hernández, A.: Educational software tools for the kinematic analysis of mechanisms. Comput. Appl. Eng. Educ. 22, 72–86 (2014)CrossRefGoogle Scholar
  4. 4.
    Xydas, G.E., Mueller, A., Louca, L.S.: Minimally actuated fourbar linkages for upper limb rehabilitation. Mech. Mach. Sci. 48, 131–146 (2018)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Evagoras Xydas
    • 1
    Email author
  • Banu Abdikadirova
    • 1
  • Kostas Konstantinos
    • 1
  1. 1.Mechanical and Aerospace Engineering Department, School of EngineeringNazarbayev UniversityAstanaKazakhstan

Personalised recommendations