Kapci, M. F.Ünal, Ramazan2020-10-222020-10-2220192195-3562978-3-030-01886-3http://hdl.handle.net/10679/7036https://doi.org/10.1007/978-3-030-01887-0_96In 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.engrestrictedAccessbookPart2249549910.1007/978-3-030-01887-0_96Heel contactGait cycleExoskeleton jointsSingle springLower link2-s2.0-85055039779