{
  "abstract": "An embodiment includes an exoskeleton robotic system comprising a parallelogram-based remote center of motion (RCM) joint. The RCM mechanism includes a first link that is coupled to a second link, a third link, and a fourth link. A motor is coupled to the third link. A first of the first, second, third, or fourth links includes a first flexure. The first flexure includes a first degree of freedom in a first direction. A second of the first, second, third, or fourth links includes a second flexure, the second flexure including a second degree of freedom in a second direction. The first direction is not parallel to the second direction.",
  "assignees": [
    "BIONESS MEDICAL INC"
  ],
  "authors": [
    "HOGAN MICHAEL M",
    "VARGHESE ROHIT JOHN",
    "WU WILLIAM"
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    "name": "Creative Commons Attribution 4.0 International",
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  "publication_id": "OT-2026-000001472",
  "published_at": "2026-09-15T19:06:03.371084Z",
  "publisher": "Nebula Innovations Limited",
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  "source_date": "2026-03-26",
  "source_id": "US-2026084286-A1",
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  "supersedes": null,
  "title": "Robotic joint including a remote center of motion mechanism",
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