A New Methodology for Type Synthesis of Planar

Linkages for Exoskeletons up to Five Angular Outputs

Mahmoud Helal 1,2, Abdulaziz H. Alghtani 1, Jong Wan Hu 3,4,* and Hasan Eleashy 5
1 Department of Mechanical Engineering, Faculty of Engineering, Taif University, P.O. Box 11099,
Taif 21944, Saudi Arabia; mo.helal@tu.edu.sa (M.H.); a.qhtani@tu.edu.sa (A.H.A.)
2 Production and Mechanical Design Department, Faculty of Engineering, Mansoura University,

Mansoura 35516, Egypt; engmahhelal@mans.edu.eg

3 Department of Civil and Environmental Engineering, Incheon National University, Incheon 22012,

Korea
4 Incheon Disaster Prevention Research Center, Incheon National University, Incheon 22012, Korea
5 Mechanical Engineering Department, Faculty of Engineering & Technology, Future University in

Egypt,
Cairo 11385, Egypt; heashy@fue.edu.eg
* Correspondence: jongp24@inu.ac.kr

Appl. Sci. 2022, 12, 2238. https://doi.org/10.3390/app12042238

https://www.mdpi.com/journal/applsci