The Use of Four-Bar Mechanisms in Robotic Exoskeletons

Due to the specificity of the current world, there is a spike in demand for robotic exoskeletons of various types and purposes. An increase in the elderly populace, an increase in demanding jobs, and rehabilitation are the driving factors in the field of biomechatronics and exoskeleton research. The four main questions, such as human bionic compliance, optimization of the exoskeletons, reduction of costs and increase of efficiencies are on the front line of the exoskeleton research. In this work, one of such solutions, namely the application of four-bar mechanisms, is explored in detail. This paper is a comprehensive review of the different types of four-bar mechanisms and their use in the robotic exoskeletons. The main objective is to find the most efficient four-bar configuration to assist different body parts as well as to look at what makes certain arrangements superior to others. By analyzing the currently existing solutions provided in the scientific literature, the optimal solutions are derived and proposed to further advance the rapidly developing fields of robotics and biomechatronics.