ArticleMicromachines2025
Design, Modeling, and Testing-A Compact Variable-Stiffness Actuator for Knee Joint Dimensions.
Article in Micromachines, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Stroke rehabilitation exoskeletons require joint mechanisms capable of replicating physiological stiffness modulation to adapt to varying gait phases. This paper presents a novel compact variable-stiffness mechanism (VSM) for knee exoskeletons, based on a simplified three-bar linkage topology. The proposed design achieves a pre-configurable quasi-stiffness range of 0.15-2.0 NM/deg. Static characterization under a 2 kg load demonstrated up to 23.0 N of collision force attenuation in softening regimes (λ < 2.3) through passive viscoelastic dissipation, whereas hardening behavior (λ ≥ 2.3) preserved precise torque-angle characteristics scalable to physiological loading. A parametric analysis showed an 89% correlation between the theoretical and scaled experimental stiffness profiles for values from 0.5 to 2.5. The proposed architecture enables decoupled optimization of impact safety and positional precision, offering a clinically adaptable solution for hemiparetic gait assistance.
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