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. Misalignment between the instantaneous center of rotation(ICR) of human joint and the ICR of wearable robotic exoskeleton widelyexists among most of exoskeletons widely used in rehabilitation, whichresults in discomfort, even endangers human safety. In order to alleviate it,this study focuses on the solution of misalignment in knee joint of lowerlimb exoskeletons, and proposes a compliant five-bar parallel mechanism,which offers two mobility in sagittal plane, as well as the torsional springsmounted on this mechanism, have the potential to automatically adjust the ICRof output link connected to thigh with respect to the basis link connected toshank. To reach this goal, we build the stiffness model of the mechanism andoptimize its variables. And the self-alignment of the compliant five-barparallel mechanism is verified via experimental investigations.

Kinematic analysis and optimization of a planar parallel compliant mechanism for self-alignment knee exoskeleton