OPENTECHNICAL PUBLICATION
OT-2026-000001472

Robotic joint including a remote center of motion mechanism

Published: 2026-09-15T19:06:03.371084Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001472
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001472
Published 2026-09-15T19:06:03.371084Z
https://opentechnical.org/p/OT-2026-000001472