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This paper presents a novel compliant double-quadrilateral (Q \(^2\) ) mechanism designed to model the human lower limb, namely the knee and ankle joints, with a high degree of fidelity. The proposed mechanism consists of two interconnected four-bar linkages forming a closed kinematic chain that replicates the natural movement of the lower limb. Following the computation of the inverse kinematics of this mechanism, a compliant embodiment of the mechanism will be analyzed. By leveraging screw theory and pseudo-rigid body modelling, the required actuation efforts will be computed and subsequently optimized. Simulation results, validated against real gait data, demonstrate the feasibility of this approach in replicating human biomechanics. The findings highlight the potential of this mechanism for applications in prosthetics and robotic-assisted rehabilitation.

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A Compliant Q \(^2\) Linkage to Model the Human Lower Limb Motion

  • 会议论文

  • 发表日期：

    2025年

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  • Lionel Birglen

摘要

This paper presents a novel compliant double-quadrilateral (Q \(^2\) ) mechanism designed to model the human lower limb, namely the knee and ankle joints, with a high degree of fidelity. The proposed mechanism consists of two interconnected four-bar linkages forming a closed kinematic chain that replicates the natural movement of the lower limb. Following the computation of the inverse kinematics of this mechanism, a compliant embodiment of the mechanism will be analyzed. By leveraging screw theory and pseudo-rigid body modelling, the required actuation efforts will be computed and subsequently optimized. Simulation results, validated against real gait data, demonstrate the feasibility of this approach in replicating human biomechanics. The findings highlight the potential of this mechanism for applications in prosthetics and robotic-assisted rehabilitation.