TY - GEN
T1 - The Use of Four-Bar Mechanisms in Robotic Exoskeletons
AU - Omirbayev, Sultan
AU - Issa, Ilyas
AU - Kuangaliyev, Zholaman
AU - Turganbayev, Azamat
AU - Niyetkaliyev, Aibek
N1 - Funding Information:
This research has been funded by Nazarbayev University under Faculty-development competitive research grants program for 2021-2023 Grant number 021220FD2351 fdcrgp 31561570, PI Niyetkaliyev A.S.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - exoskeletons
KW - four-bar linkage
KW - human limb
KW - mechanism
KW - optimization
KW - review
KW - robotic
UR - http://www.scopus.com/inward/record.url?scp=85146369471&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85146369471&partnerID=8YFLogxK
U2 - 10.1109/ICAMechS57222.2022.10003280
DO - 10.1109/ICAMechS57222.2022.10003280
M3 - Conference contribution
AN - SCOPUS:85146369471
T3 - International Conference on Advanced Mechatronic Systems, ICAMechS
SP - 149
EP - 156
BT - Proceedings - 2022 International Conference on Advanced Mechatronic Systems, ICAMechS 2022
PB - IEEE Computer Society
T2 - 2022 International Conference on Advanced Mechatronic Systems, ICAMechS 2022
Y2 - 17 December 2022 through 20 December 2022
ER -