Design of rigid-compliant parallel exoskeleton knee joint

Large displacement elastic joints have been widely used in rehabilitation exoskeleton, in this paper, a brief reminder of the application of large displacement elastic joints in exoskeleton robotic structures has been given. A new concept of rigid-compliant exoskeleton joint has been presented using four-bar compliant linkage for exoskeleton robot applications. The paper describes the method of designing the rigid-compliant exoskeleton joint according to the motion of human knee.