---
publication_id: "OT-2026-000001472"
title: "Robotic joint including a remote center of motion mechanism"
published_at: "2026-09-15T19:06:03.371084Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001472"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "a61h1/02"
  - "a61h1/0285"
  - "b25j9/0006"
  - "b25j9/0006"
  - "a61f2/54"
  - "a61f2/54"
---

# Robotic joint including a remote center of motion mechanism

## 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.