Abstract: This paper presents performance charts that map the design space of a bioinspired robotic condylar hinge joint. The joint mimics the design of the human knee joint by copying the condylar surfaces of the femur and tibia ...

Abstract: This paper presents a novel condylar hinge for robotic limbs which was inspired by the human knee joint. The ligaments in the human knee joint can be modeled as an inverted parallelogram fourbar mechanism. The knee joint ...