Exploring the Potential of Four-Bar Linkages in Robotic Exoskeletons: A Comprehensive Review

Abstract This study explores the integration of four-bar mechanisms in robotic exoskeletons, a field with a significant impact on rehabilitation and augmenting physical capabilities. Four-bar mechanisms, known for their simple structure and versatile motion, can enhance exoskeletons by mimicking human joint movement, offering a more natural and comfortable experience. The study aims to investigate the benefits and design elements of four-bar linkages in exoskeletons, analyzing 95 different models categorized by target body part, actuation type, and usage. The research addresses the potential improvements and challenges in this area, paving the way for advanced, user-focused exoskeleton development.