Kapci, Mehmet FazilUnal, Ramazan2025-09-252025-09-2520192195-35702195-3562https://doi.org/10.1007/978-3-030-01887-0_96https://hdl.handle.net/20.500.12573/3585In this study, a bio-joint shaped knee joint exoskeleton is presented. This design is meant for avoiding misalignment of the exoskeleton joint with the biological knee joint. For this purpose a cam mechanism has been designed to prevent the misalignment from translation of the femur on tibia. Additionally, walking and sit-to-stance is passively assisted with a spring element that is activated with the heel contact. A single spring is used for both walking and sit-to-stance, due to the similar characteristics of the gait cycle and initial phases of the sit-to-stance in joint stiffness. © 2018 Elsevier B.V., All rights reserved.eninfo:eu-repo/semantics/closedAccessBook Part10.1007/978-3-030-01887-0_962-s2.0-85055039779