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Compliant Mechanisms and Actuators for Exoskeletons and Human–Robot Interactions

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Dear Colleagues,

Compliant mechanisms and actuators (CMAs) are compact, self-sensing, energy-efficient, and safe for human–robot interaction (HRI). In recent years, many novel compliant mechanisms and actuators have been developed to meet the demands of high-performance intelligent machines and robots such as exoskeletons, humanoids, industrial robots and grippers, and energy harvesting devices, among others.

This Special Issue (SI) aims to show the latest research results in the areas of CMA and HRI. Recent advances in the modeling, design, and control technologies of CMAs and their applications will be collected, indicating the future research trends for intelligent machine design and human–robot interaction.

Topics for this SI will include, but are not limited to, the following:

Compliant joints and mechanisms;
Variable-stiffness mechanisms;
Sensing in compliant mechanisms;
SEAs, PEAs, VSAs;
Design modeling and simulation;
Reconfigurable-stiffness mechanisms;
Dynamics of compliant mechanisms;
Actuator control;
Human–robot interaction applications.

Prof. Dr. Shaoping Bai
Dr. Lin Liu
Prof. Dr. Guimin Chen
Dr. Zhongyi Li
Guest Editors

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19 pages, 4921 KiB

Open AccessArticle

Sports Biomechanics Analysis: Assisting Effectiveness Evaluations for Wearable Compliant Elbow Joint Powered Exoskeleton

by Huibin Qin, Kai Liu, Zefeng Zhang, Jie Zheng, Zhili Hou, Lina Li and Ruiqin Li

Machines 2025, 13(2), 168; https://doi.org/10.3390/machines13020168 - 19 Feb 2025

Viewed by 726

Abstract

Wearing an exoskeleton, the human body constantly experiences mechanical loading. However, quantifying internal loads within the musculoskeletal system remains challenging, especially during unconstrained dynamic activities such as manual material handling. Currently, exoskeleton systems are commonly integrated with sensor technologies to gather data and assess performances. This is mainly performed to evaluate the physical exoskeletons, and cannot provide real-time feedback during the development phase. Firstly, a powered wearable elbow exoskeleton with variable stiffness is proposed. Through theoretical calculation, the power efficiency formula of exoskeleton is derived. Then, a human musculoskeletal model is built using the AnyBody Modeling System and coupled to the elbow exoskeleton. Under set experimental conditions, the simulation reveals that, when compared with the exoskeleton, the biceps and triceps muscle force parameters of the human model were reduced by 24% and 12%. The muscle activity was diminished by 28–31%, and muscle length shortened by about 6%, in comparison to the condition without the exoskeleton. Finally, through the muscle force experiment, it was verified that the power efficiency of the elbow exoskeleton in the real transport was about 18%. The project reduces costs in the development phase of the exoskeleton and can provide new insights into muscle function and sports biomechanics. Full article

(This article belongs to the Special Issue Compliant Mechanisms and Actuators for Exoskeletons and Human–Robot Interactions)

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