A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation
This paper presents a novel design for a bionic knee exoskeleton equipped with a variable stiffness actuator based on rope-driven artificial muscles. To meet the varying stiffness requirements of the knee joint across different gait modes, the actuator dynamically switches between multiple rope bund...
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MDPI AG
2025-07-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/10/7/424 |
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| author | Shikai Jin Bin Liu Zhuo Wang |
| author_facet | Shikai Jin Bin Liu Zhuo Wang |
| author_sort | Shikai Jin |
| collection | DOAJ |
| description | This paper presents a novel design for a bionic knee exoskeleton equipped with a variable stiffness actuator based on rope-driven artificial muscles. To meet the varying stiffness requirements of the knee joint across different gait modes, the actuator dynamically switches between multiple rope bundle configurations, thereby enabling effective stiffness modulation. A mathematical model of the knee exoskeleton is developed, and the mechanical properties of the selected flexible aramid fiber ropes under tensile loading are analyzed through both theoretical and experimental approaches. Furthermore, a control framework for the exoskeleton system is proposed. Wearable experiments are conducted to evaluate the effectiveness of the variable stiffness actuation in improving compliance and comfort across various gait patterns. Electromyography (EMG) results further demonstrate that the exoskeleton provides a compensatory effect on the rectus femoris muscle. |
| format | Article |
| id | doaj-art-92b9e1147b394c0da0dcffe38352d0eb |
| institution | DOAJ |
| issn | 2313-7673 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-92b9e1147b394c0da0dcffe38352d0eb2025-08-20T03:07:54ZengMDPI AGBiomimetics2313-76732025-07-0110742410.3390/biomimetics10070424A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle ActuationShikai Jin0Bin Liu1Zhuo Wang2School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, ChinaThis paper presents a novel design for a bionic knee exoskeleton equipped with a variable stiffness actuator based on rope-driven artificial muscles. To meet the varying stiffness requirements of the knee joint across different gait modes, the actuator dynamically switches between multiple rope bundle configurations, thereby enabling effective stiffness modulation. A mathematical model of the knee exoskeleton is developed, and the mechanical properties of the selected flexible aramid fiber ropes under tensile loading are analyzed through both theoretical and experimental approaches. Furthermore, a control framework for the exoskeleton system is proposed. Wearable experiments are conducted to evaluate the effectiveness of the variable stiffness actuation in improving compliance and comfort across various gait patterns. Electromyography (EMG) results further demonstrate that the exoskeleton provides a compensatory effect on the rectus femoris muscle.https://www.mdpi.com/2313-7673/10/7/424knee exoskeletonartificial muscleelastic actuatorvariable stiffness mechanism |
| spellingShingle | Shikai Jin Bin Liu Zhuo Wang A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation Biomimetics knee exoskeleton artificial muscle elastic actuator variable stiffness mechanism |
| title | A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation |
| title_full | A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation |
| title_fullStr | A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation |
| title_full_unstemmed | A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation |
| title_short | A Bionic Knee Exoskeleton Design with Variable Stiffness via Rope-Based Artificial Muscle Actuation |
| title_sort | bionic knee exoskeleton design with variable stiffness via rope based artificial muscle actuation |
| topic | knee exoskeleton artificial muscle elastic actuator variable stiffness mechanism |
| url | https://www.mdpi.com/2313-7673/10/7/424 |
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