Exploring the Potential of Four-Bar Linkages in Robotic Exoskeletons: A Comprehensive Review
Niyetkaliyev A. Turganbayev A. Karasheva M. Zhylkaidarov R. Turlybek Y.
1 October 2025American Society of Mechanical Engineers (ASME)
Journal of Mechanical Design
2025#147Issue 10
This study explores the integration of four-bar mechanisms in robotic exoskeletons, a field with a significant impact on rehabilitation and augmenting physical capabilities. Four-bar mechanisms, known for their simple structure and versatile motion, can enhance exoskeletons by mimicking human joint movement, offering a more natural and comfortable experience. The study aims to investigate the benefits and design elements of four-bar linkages in exoskeletons, analyzing 93 different models categorized by target body part, actuation type, and usage. The research addresses the potential improvements and challenges in this area, paving the way for advanced, user-focused exoskeleton development.
bio-inspired design , computer-aided design , degrees-of-freedom , design for humans , design of innovative devices of machine elements , design optimization , four-bar linkage , kinematics , linkages , mechanism synthesis , medical and bio design of mechanisms and robotics , robot design , robot kinematics , robotic exoskeleton , robotic systems , structural optimization
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Department of Robotics Engineering, Nazarbayev University, 53 Kabanbay batyr Ave., Astana, 010000, Kazakhstan
Department of Robotics Engineering
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