Bio-inspired Mechanism Research Articles

How does vortex dynamics help undulating bodies spread odor?

In this paper, we examine the coupling between odor dynamics and vortex dynamics around undulating bodies, with a focus on bio-inspired propulsion mechanisms. Utilizing computational fluid dynamics simulations with an in-house immersed boundary method solver, we investigate how different waveform patterns, specifically carangiform and anguilliform, influence the dispersion of chemical cues in both water and air environments. Our findings reveal that vortex dynamics significantly impact the overall trajectory of odor spots, although the alignment between odor spots and coherent flow structures is not always precise. We also evaluate the relative contributions of diffusion and convection in odor transport, showing that convection dominates in water, driven by higher Schmidt numbers, while diffusion plays a more prominent role alongside convection in air. Additionally, the anguilliform waveform generally produces stronger and farther-reaching chemical cues compared to carangiform swimmers. The critical roles of Strouhal number and Reynolds number in determining the efficiency of odor dispersion are also explained, offering insights that could enhance the design of more efficient, adaptive, and intelligent autonomous underwater vehicles by integrating sensory and hydrodynamic principles inspired by fish locomotion.

Neuroscientific insights about computer vision models: a concise review.

The development of biologically-inspired computational models has been the focus of study ever since the artificial neuron was introduced by McCulloch and Pitts in 1943. However, a scrutiny of literature reveals that most attempts to replicate the highly efficient and complex biological visual system have been futile or have met with limited success. The recent state-of the-art computer vision models, such as pre-trained deep neural networks and vision transformers, may not be biologically inspired per se. Nevertheless, certain aspects of biological vision are still found embedded, knowingly or unknowingly, in the architecture and functioning of these models. This paper explores several principles related to visual neuroscience and the biological visual pathway that resonate, in some manner, in the architectural design and functioning of contemporary computer vision models. The findings of this survey can provide useful insights for building futuristic bio-inspired computer vision models. The survey is conducted from a historical perspective, tracing the biological connections of computer vision models starting with the basic artificial neuron to modern technologies such as deep convolutional neural network (CNN) and spiking neural networks (SNN). One spotlight of the survey is a discussion on biologically plausible neural networks and bio-inspired unsupervised learning mechanisms adapted for computer vision tasks in recent times.

Kinematic and aerodynamic analysis of a Microraptor-inspired foldable wing mechanism

Bio-inspired mechanisms have opened new avenues of research to understand the flying capabilities of birds. While extensive studies have explored the aerodynamics and kinematics of bird flapping motions, limited attention has been given to the folding motion. This paper introduces a foldable wing mechanism inspired by avian anatomy, specifically drawing inspiration from Microraptor aerodynamics. Employing the screw theory approach, we analyze the kinematics of the mechanism and conduct parametric calculations. By segmenting the mechanism and integrating the solutions, we develop an algorithm that demonstrates favorable power transmission, enabling the wing to remain extended with minimal actuation forces. We further employ position analysis to investigate the system’s functionality analytically. To optimize the mechanism, we utilize the gradient descent method. We validate the achieved momentum and velocities through an illustrative example by solving individual four-bar segments and transmitting the outputs to adjacent segments. The study utilizes detailed 3D modeling techniques employing SolidWorks software to accurately represent the wing designs. The results obtained provide valuable insights into the aerodynamic behavior of Microraptor, by comparing the coefficients of lift and drag in graphical form and contribute to the advancement of micro-aerial vehicle design.

Sim-to-real transfer of adaptive control parameters for AUV stabilisation under current disturbance

Learning-based adaptive control methods hold the potential to empower autonomous agents in mitigating the impact of process variations with minimal human intervention. However, their application to autonomous underwater vehicles (AUVs) has been constrained by two main challenges: (1) the presence of unknown dynamics in the form of sea current disturbances, which cannot be modelled or measured due to limited sensor capability, particularly on smaller low-cost AUVs, and (2) the nonlinearity of AUV tasks, where the controller response at certain operating points must be excessively conservative to meet specifications at other points. Deep Reinforcement Learning (DRL) offers a solution to these challenges by training versatile neural network policies. Nevertheless, the application of DRL algorithms to AUVs has been predominantly limited to simulated environments due to their inherent high sample complexity and the distribution shift problem. This paper introduces a novel approach by combining the Maximum Entropy Deep Reinforcement Learning framework with a classic model-based control architecture to formulate an adaptive controller. In this framework, we propose a Sim-to-Real transfer strategy, incorporating a bio-inspired experience replay mechanism, an enhanced domain randomisation technique, and an evaluation protocol executed on a physical platform. Our experimental assessments demonstrate the effectiveness of this method in learning proficient policies from suboptimal simulated models of the AUV. When transferred to a real-world vehicle, the approach exhibits a control performance three times higher compared to its model-based nonadaptive but optimal counterpart.

3D printed multi-coupled bioinspired skin-electronic interfaces with enhanced adhesion for monitoring and treatment

Skin-electronic interfaces have broad applications in fields such as diagnostics, therapy, health monitoring, and smart wearables. However, they face various challenges in practical use. For instance, in wet environments, the cohesion of the material may be compromised, and under dynamic conditions, maintaining conformal adhesion becomes difficult, leading to reduced sensitivity and fidelity of electrical signal transmission. The key scientific issue lies in forming a stable and tight mechanical-electronic coupling at the tissue-electronic interface. Here, inspired by octopus sucker structures and snail mucus, we propose a strategy for hydrogel skin-electronic interfaces based on multi-coupled bioinspired adhesion and introduce an ultrasound (US)-mediated interfacial toughness enhancement mechanism. Ultimately, using digital light processing micro-nano additive manufacturing technology (DLP 3D), we have developed a multifunctional, diagnostic-therapeutic integrated patch (PAMS). This patch exhibits moderate water swelling properties, a maximum deformation of up to 460%, high sensitivity (GF = 4.73), and tough and controllable bioadhesion (shear strength increased by 109.29%). Apart from outstanding mechanical and electronic properties, the patch also demonstrates good biocompatibility, anti-bacterial properties, photothermal properties, and resistance to freezing at −20 °C. Experimental results show that this skin-electronic interface can sensitively monitor temperature, motion, and electrocardiogram signals. Utilizing a rat frostbite model, we have demonstrated that this skin-electronic interface can effectively accelerate the wound healing process as a wound patch. This research offers a promising strategy for improving the performance of bioelectronic devices, sensor-based educational reforms and personalized diagnostics and therapeutics in the future. Statement of significanceEstablishing stable and tight mechanical-electronic coupling at the tissue-electronic interface is essential for the diverse applications of bioelectronic devices. This study aims to develop a multifunctional, diagnostic-therapeutic integrated hydrogel skin-electronic interface patch with enhanced interfacial toughness. The patch is based on a multi-coupled bioinspired adhesive-enhanced mechanism, allowing for personalized 3D printing customization. It can be used as a high-performance diagnostic-therapeutic sensor and effectively promote frostbite wound healing. We anticipate that this research will provide new insights for constructing the next generation of multifunctional integrated high-performance bioelectronic interfaces.

Insect‐Inspired Drones: Adjusting the Flapping Kinetics of Insect‐Inspired Wings Improves Aerodynamic Performance

Insects flap their wings through a highly specialized musculoskeletal system that allows the wings to rotate about three degrees of freedom. Consequently, the wingtip trajectory is adjustable in 3D, and accompanied with appropriate wing feathering (wing pitch). Remarkably, the complex flapping motion is achieved by thoracic muscles acting on the wing hinge. The wings themselves do not possess muscles but adjust their shape and orientation by elastically deforming due to the loads applied on them during flapping. Previous attempts to develop insect‐inspired flapping drones have mostly focused on simplified linear flapping mechanisms, which do not utilize the interaction between the wing flexibility and flapping kinematics to its full potential. Here, the aim is to improve flapping drones’ performance by introducing mechanisms that mimic insects’ flight. The first is an elastic beam mechanism, allowing the wing root to swing during flapping, and the second is a passive wing pitch mechanism that allows the wing to rotate at stroke reversals. The two mechanisms are tested using high‐fidelity insect‐inspired 3D‐printed wings and show a sixfold improvement of aerodynamic performance compared to linear flapping kinetics of the same flexible wings. This underscores the necessity of bioinspired flapping mechanisms in future flapping drones.

Coupled fluid-structure simulation of a flapping wing using free multibody dynamics software

AbstractComputer simulations offer invaluable insights into fluid-structure interaction phenomena, increasing our understanding of complex behaviors within fluid flows and enabling predictions of consequential effects. This paper explores flapping wing simulation using an original toolchain based on free software. The structural domain is modeled using multibody dynamics, interfaced with arbitrary fluid dynamics solvers through a general-purpose multiphysics coupling library. The proposed toolchain is validated against benchmark models, demonstrating its effectiveness in various applications. Our study, inspired by experimental ones, applies this coupling to investigate the hydroelastic behavior of a flexible wing. Wing motion characteristics, structural properties, and convergence criteria are analyzed through numerical simulations. While achieving appreciable agreement with experimental data on wing motion ratios, challenges in dealing with large displacements have been identified. Nonetheless, the present study provides valuable insights into fluid-structure interactions, laying the groundwork for future refinements in computational modeling techniques and advancing the understanding of bio-inspired flight mechanisms.

Soft alchemy: a comprehensive guide to chemical reactions for pneumatic soft actuation

Soft robotics has emerged as a transformative field, leveraging bio-inspired novel actuation mechanisms to enable more adaptable, compliant, and sophisticated robotic systems. However, the portability of soft pneumatic actuators is typically constrained by the tethering to bulky power sources. This review offers a thorough analysis of autonomous power alternatives facilitated by chemical reactions for gas generation and absorption, a concept analogous to biological energy conversion processes. These bio-inspired strategies propel soft pneumatic actuators towards new horizons of autonomy and portability, essential for real-world applications. This comprehensive review explores the critical intersection of gas evolution reactions (GERs) and gas consumption reactions (GCRs) as a power source for pneumatic actuation in soft robotics. We here emphasize the importance and impact of bio-inspired design, control, efficiency, safety, and sustainability within soft robotics to not only mimic biological motions but to enhance them. This review explores the fundamentals of both pneumatic and chemically powered actuation, highlighting the need for careful consideration of reaction kinetics. Additionally, this work highlights key aspects of smart materials that draw from biological structures and response mechanisms, along with state-of-the-art techniques for precise pressure modulation. Finally, we chart prospective development pathways and provide a future outlook for bio-inspired soft robotics, emphasizing the transformative impact of integrating chemical actuation methods. This exploration underlines the quest for further autonomy in soft robotic systems and points towards the future opportunities in this exciting and fast-developing field.

Development of Quasi-Passive Back-Support Exoskeleton with Compact Variable Gravity Compensation Module and Bio-Inspired Hip Joint Mechanism.

The back support exoskeletons have garnered significant attention to alleviate musculoskeletal injuries, prevalent in industrial settings. In this paper, we propose AeBS, a quasi-passive back-support exoskeleton developed to provide variable assistive torque across the entire range of hip joint motion, for tasks with frequent load changes. AeBS can adjust the assistive torque levels while minimizing energy for the torque variation without constraining the range of motion of the hip joint. To match the requisite assistance levels for back support, a compact variable gravity compensation module with reinforced elastic elements is applied to AeBS. Additionally, we devised a bio-inspired hip joint mechanism that mimics the configuration of the human hip axis to ensure the free body motion of the wearer, significantly affecting assistive torque transmission and wearing comfort. Benchtop testing showed that AeBS has a variable assistive torque range of 5.81 Nm (ranging from 1.23 to 7.04 Nm) across a targeted hip flexion range of 135°. Furthermore, a questionnaire survey revealed that the bio-inspired hip joint mechanism effectively facilitates the transmission of the intended assistive torque while enhancing wearer comfort.

Erratum to: Bio-inspired Attachment Mechanism of Dynastes Hercules: Vertical Climbing for On-Orbit Assembly Legged Robots

Erratum to: Bio-inspired Attachment Mechanism of Dynastes Hercules: Vertical Climbing for On-Orbit Assembly Legged Robots

Amino-Acid-Encoded Bioinspired Supramolecular Self-Assembly of Multimorphological Nanocarriers.

Supramolecular self-assembly has emerged as an efficient tool to construct well-organized nanostructures for biomedical applications by small organic molecules. However, the physicochemical properties of self-assembled nanoarchitectures are greatly influenced by their morphologies, mechanical properties, and working mechanisms, making it challenging to design and screen ideal building blocks. Herein, using a biocompatible firefly-sourced click reaction between the cyano group of 2-cyano-benzothiazole (CBT) and the 1,2-aminothiol group of cysteine (Cys), an amino-acid-encoded supramolecular self-assembly platform Cys(SEt)-X-CBT (X represents any amino acid) is developed to incorporate both covalent and noncovalent interactions for building diverse morphologies of nanostructures with bioinspired response mechanism, providing a convenient and rapid strategy to construct site-specific nanocarriers for drug delivery, cell imaging, and enzyme encapsulation. Additionally, it is worth noting that the biodegradation of Cys(SEt)-X-CBT generated nanocarriers can be easily tracked via bioluminescence imaging. By caging either the thiol or amino groups in Cys with other stimulus-responsive sites and modifying X with probes or drugs, a variety of multi-morphological and multifunctional nanomedicines can be readily prepared for a wide range of biomedical applications.

Catalytic effects on peristaltic flow of Jeffrey fluid through a flexible porous duct under oblique magnetic field: Application in biomimetic pumps for hazardous materials

Homogenous and heterogeneous reactions play an essential role in polymer production, combustion, ceramic production, catalysis, distillation, and biochemical procedures. As a result of this advancement, a mathematical model is developed to examine the role of catalytic chemical reaction effects on the magneto-hydrodynamic peristaltic transport in a flexible divergent duct containing a non-deformable porous medium as a model for complex hazardous waste bio-inspired pumping mechanisms. The Jeffrey model is utilized to simulate strong non-Newtonian characteristics. Additional multi-physical features included in the model are heat generation, thermal radiation, Hall current, and complaint wall properties along with an inclined (oblique) magnetic field. The long wavelength and low Reynolds number approximations are deployed to transform the primitive conservation equations from a moving boundary problem to a fixed frame. Appropriate transformations are then utilized to render the model dimensionless. The exact solutions are obtained for stream function and velocity. Further, the R-K-Fehlberg integration scheme is applied to solve the energy and concentration equations. Velocity, temperature, concentration, skin friction, and Nusselt number profiles are visualized graphically. Streamline patterns are also included to capture bolus dynamics. Validation with previous simpler studies has been included. A detailed appraisal of key control parameters on transport characteristics is conducted. It is found that velocity is suppressed with elevation in the damping force parameter while it is enhanced with an increment in regime permeability i. e. Darcy number. Both homogeneous and heterogeneous reactions are observed to exert a significant impact on the species concentration. The volume of the trapped fluid bolus size is shown to be an increasing function of the peristaltic wave amplitude ratio. The present work generalizes existing studies to consider catalytic effects on dissipative peristaltic pumping of the Jeffrey fluid with heat generation and radiative flux, aspects which have been neglected in a single model previously. The simulations are relevant to better characterize the complex transport phenomena in nuclear reactor waste transport via biologically inspired pumping designs.

Towards Refining Bio-Inspired Hydro-Actuated Building Facades by Emphasising the Importance of Hybrid Adaptability

In anticipation of the growing demand for energy efficiency, research is underway on the advancement of the next generation of bio-inspired adaptive systems for multi-stimuli-responsive building envelopes. At this point, it is vital to perceive how materials are altered by various stimuli. To address this challenge, I conceptualise the following question: how can hydro-actuated systems become multi-responsive systems through combining bio-responsive mechanisms? To begin to imagine these actuators, I take inspiration from bio-inspired mechanisms to chart viable avenues/principles that can lead to scalable applications. Hydro-actuated facades can help decrease energy consumption in buildings because of the advantage of using bio-inspired materials and smart mechanisms derived from natural phenomena that occur on the scale of plants or animals. Most hydro-actuated facades are restricted in terms of their responses to a single stimulus, which makes them ineffective for building envelopes due to their inability to respond to other stimuli. The main aim of this study is to define challenges concerning hydro-actuated facades and develop principles to create a multi-stimuli-responsive system that senses and actuates passively. In this regard, by introducing a strategy of combining natural mechanisms in the context of architectural envelopes, this paper presents extra insight into the connection between building facades and environmental mechanisms.

Recent advances in bio-inspired geotechnics: From burrowing strategy to underground structures

Traditional geotechnical engineering is challenged in terms of sustainability, resilience, reliability and resources availability in the context of climate change and urbanization expansion. Abstracting inspiration from nature and adopting to geotechnical engineering, bio-inspired geotechnics can provide innovative solutions to address these challenges. This paper reviews the underlying mechanics of bio-inspired geotechnical engineering from three perspectives, i.e., bio-inspired burrowing strategies and mechanisms, bio-inspired surfaces with textures and bio-inspired underground structures. The results highlight that the bio-inspired burrowing strategies (i.e., particle removal, chiseling/grabbing-pushing, peristalsis, dual-anchor, pivot burrowing, undulatory propulsion, reciprocating, rotation and root growth) differ in their application scopes and burrowing efficacy, and the auxiliary burrowing, the principle of least impendence, as well as the multi-functional root growth presents promising solutions to burrowing challenges. Bio-inspired textured surfaces exhibit performance enhancement with regard to anisotropic friction, wear resistance and actuator initiation. In bio-inspired underground structures, snakeskin- and root-inspired geotechnical elements provide superior performance due to the frictional anisotropy and branching effects, respectively, and the potential implementation techniques are challenging current geotechnical engineering. Finally, transferring issues, potential research trends and future prospects are presented, and the significance of collaborative engagement of both engineers and scientists for promotion in bio-inspired geotechnics is emphasized.

An extracellular matrix-mimicking magnetic microrobot for targeted elimination of circulating cancer cells.

Cancer cells disseminate through the bloodstream, leading to metastasis in distant sites within the body. One promising strategy to prevent metastasis is to eliminate circulating tumor cells. However, this remains challenging due to the lack of an active and targeted biomedical tool for efficient cancer cell elimination. Here, we developed a magnetic microrobot by using natural materials derived from the extracellular matrix (ECM) to mimic the ligand-receptor interaction between cancer cells and the ECM, offering targeted elimination of cancer cells. The ECM-mimicking microrobot is designed with a biodegradable hydrogel matrix, incorporating a cancer cell ligand and magnetic microparticles for cancer cell capture and active locomotion. This microrobot was fabricated based on an interface-shearing method, enabling controllable magnetic response and size scalability (30 μm-500 μm). The presented ECM-mimicking microrobot can actively approach and capture single cancer cells and cell clusters under the control of specific magnetic fields. The experiment was conducted in a blood vessel-mimicking simulator. The microrobot demonstrates an outstanding elimination efficacy of 92.3% on MDA-MB-231 cancer cells and a stable transport capability of the captured cells over long distances to a designed recycling site, inhibiting cell metastasis. This magnetic ECM-mimicking microrobot based on a bioinspired binding mechanism represents a promising candidate for the efficient elimination of cancer cells and other biological waste in the blood.

Adaptive photoluminescence through a bioinspired antioxidative mechanism.

Transition metal complexes are archetypal luminescent probes that are widely used for various applications ranging from optoelectronics to biomedicine. However, they face significant challenges such as photobleaching and photooxidative stress, which limit their performance. Herein, we introduce a photosystem-inspired concept based on the use of a vitamin (ascorbic acid, Asc-Ac) to adaptively suppress photobleaching of molecular luminophores. As a proof-of-concept compound, we have selected a new bis-cyclometalated Pt(II) complex (Pt-tBu) and investigated its adaptive photoluminescence resulting from singlet dioxygen (1O2) photoproduction in the presence of Asc-Ac. Interestingly, the excited state quenching and subsequent photobleaching of Pt-tBu in aerated solutions is suppressed by addition of Asc-Ac, which scavenges the 1O2 photosensitized by Pt-tBu upon irradiation and results in an adaptive oxygen depletion with enhancement of luminescence. The adaptation is resilient for successive irradiation cycles with oxygen replenishment, until peroxidation overshooting leads to the degradation of Pt-tBu by formation of a dark Pt(iv) species. The complexity-related adaptation with initial overperformance (luminescence boost) relies on the external energy input and cascaded feedback loops, thus biomimicking inflammation, as the repeated exposure to a stressor leads to a final breakdown. Our antioxidative protection mechanism against photobleaching can be successfully extended to multiple coordination compounds (e.g., Ir(iii), Ru(ii) and Re(i) complexes), thus demonstrating its generality. Our findings broaden the scope of molecular adaptation and pave the way for enhancing the stability of molecular luminophores for multiple applications.

Current study on active flow control and passive flow control

Flow control is a very important research direction in the field of fluid dynamics and one of the important research difficulties in the field of aerospace in the 21st century. This study aims to explore the principles and applications of active flow control and passive flow control, and analyze their practical applications in different fields. By conducting a literature review, this study collected and organized relevant literature and papers related to active flow control and passive flow control, and conducted a comprehensive summary and comparison. The research results indicate that both active flow control and passive flow control are of great significance and can improve efficiency or cost-effectiveness through different methods. The development process of active flow control has undergone evolution, and its basic principle is introduced by classifying different methods and technologies, such as bio-inspired mechanics regulation and jet lag, and illustrating their application principles with examples. Passive control methods require additional mechanical structures, such as ribbing, grooving, etc., in the boundary layer. The active control method requires energy input, and the flow control is achieved by controlling the energy input. By understanding and researching the technologies and methods of active flow control and passive flow control, it can provide reference and reference for researchers and engineers in related fields, and promote the development and application of flow control technology.

3D-Printed Bio-Inspired Mechanisms for Bird-like Morphing Drones

Birds have unique flight characteristics unrivaled by even the most advanced drones due in part to their lightweight morphable wings and tail. Advancements in 3D-printing, servomotors, and composite materials are enabling more innovative airplane designs inspired by avian flight that could lead to optimized flight characteristics compared to traditional designs. Morphing technology aims to improve the aerodynamic and power efficiencies of aircraft by eliminating traditional control surfaces and implementing wings with significant shape-changing ability. This work proposes designs of 3D-printed, bio-inspired, non-flapping, morphing wing and tail mechanisms for unmanned aerial vehicles. The proposed wing design features a corrugated flexible 3D-printed structure to facilitate sweep morphing with expansion and contraction of the attached artificial feathers. The proposed tail feather expansion mechanism features a 3D-printed flexible structure with circumferential corrugation. The various available 3D-printing materials and the capability to print geometrically complex components have enabled the realization of the proposed morphing deformations without demanding relatively large actuation forces. Proof-of-concept models were manufactured and tested to demonstrate the effectiveness of the selected materials and actuators in achieving the desired morphing deformations that resemble those of seagulls.

Network Intrusion Detection Based on Amino Acid Sequence Structure Using Machine Learning

The detection of intrusions in computer networks, known as Network-Intrusion-Detection Systems (NIDSs), is a critical field in network security. Researchers have explored various methods to design NIDSs with improved accuracy, prevention measures, and faster anomaly identification. Safeguarding computer systems by quickly identifying external intruders is crucial for seamless business continuity and data protection. Recently, bioinformatics techniques have been adopted in NIDSs’ design, enhancing their capabilities and strengthening network security. Moreover, researchers in computer science have found inspiration in molecular biology’s survival mechanisms. These nature-designed mechanisms offer promising solutions for network security challenges, outperforming traditional techniques and leading to better results. Integrating these nature-inspired approaches not only enriches computer science, but also enhances network security by leveraging the wisdom of nature’s evolution. As a result, we have proposed a novel Amino-acid-encoding mechanism that is bio-inspired, utilizing essential Amino acids to encode network transactions and generate structural properties from Amino acid sequences. This mechanism offers advantages over other methods in the literature by preserving the original data relationships, achieving high accuracy of up to 99%, transforming original features into a fixed number of numerical features using bio-inspired mechanisms, and employing deep machine learning methods to generate a trained model capable of efficiently detecting network attack transactions in real-time.

Cable-Driven and Series Elastic Actuation Coupled for a Rigid–Flexible Spine-Hip Assistive Exoskeleton in Stoop–Lifting Event

This article presents a design of an electrically powered spine-hip assistive exoskeleton (SHAE) to relieve back muscle fatigue of industrial workers and prevent back injuries. The rigid–flexible coupling driving realizes the performance of the system in terms of comfort, weight, flexibility, system durability, and industrial feasibility. It uses only two series elastic actuators (SEAs), coupled to drive two hip joints and one bio-inspired spine mechanism. The SEA is realized by the ball screw driving the elastic slider, which is, respectively, transmitted to the spine mechanism and the hip joints in cable driving mechanism and crank-slider mechanism. This device can distribute power to wearer's back and hips during a stoop–lifting event. In the state of lateral bending, axial rotation, and walking of the wearer, it can meet the needs of flexible movement of human body with the advantages of good back driving performance and low impedance. Furthermore, in order to transmit the torque determined by a high-level controller, an SEA force controller is implemented by measuring the elastic displacement of the spring unit installed in the slider. To evaluate the effectiveness of the developed exoskeleton mechanism, we experimentally verified the feasibility of different motion modes. Finally, the effectiveness of SHAE in assisting the waist was verified by collecting and comparing the electromyography signals of the relevant muscles of the waist during stoop–lifting exercise of the subjects with and without wearing the SHAE.