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By analyzing the skeleton of the kangaroo's tibia and femur, a movement is assumed. According to this hypothesis, the centrode of the shank relative to the thigh is calculated. On this basis, a special geared five-bar mechanism is proposed, and the motion analysis and optimization calculation of the mechanism are carried out. The geared five-bar bionic joint mechanism is optimized to mimics the features of the kangaroo knee movement. Finally, the 3D model design and object making are completed, and the result shows that the geared five-bar mechanism can well simulate the motion characteristics of kangaroo knee joint.

This paper presents a novel modeling framework for contact detection and estimation of contact location on multi-backbone continuum robots. The paper presents modified kinematics for constrained continuum robots and introduces the concept of Fixed Centrode Deviation (FCD) for continuum robots. It is shown that the change in fixed centrode locus may be used for detection of contact and for contact location estimation. An alternative method for contact detection using Joint Force Deviation (JFD) is investigated and a lower bound for contact detectability is derived while considering uncertainties in joint forces. An estimation framework for the location of contact is presented based on FCD and the constrained kinematics Jacobian of the continuum robot. These methods are validated by simulation and experiments. This framework may be used for enhancing the safety of robotic surgical slaves and for exploration of unknown environments such as in scenarios of search and rescue.