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However, the joint misalignment caused by rigid exoskeletons usually leads to an uncomfortable experience for users. In this work, an adaptive cable-driven elbow exoskeleton inspired by the structural characteristics of the shrimp shell was developed to facilitate the rehabilitation of the elbow joint and to provide more compliant human-exoskeleton interactions. The exoskeleton was specifically designed for elbow flexion and extension, with a total weight of approximately 0.6 kg. Based on the mechanical design and cable configuration of the exoskeleton, the kinematics and dynamics of driving cables were analyzed. Subsequently, a PID-based control strategy was designed with cable kinematics. To evaluate the practical performance of the proposed exoskeleton in elbow assistance, a prototype was established and experimented with six subjects. According to the experimental results, the measured elbow joint angle trajectory is generally consistent with the desired trajectory, with a mean position tracking accuracy of approximately 0.997, which supports motion stability in rehabilitation scenarios. Meanwhile, the collected sEMG values from biceps brachii and brachioradialis under the exoskeleton condition show a significant reduction in average muscle activation by 37.7% and 28.8%, respectively, compared to the condition without exoskeleton.<\/jats:p>","DOI":"10.3390\/biomimetics10050271","type":"journal-article","created":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T06:23:32Z","timestamp":1745821412000},"page":"271","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Biomimetic Design and Validation of an Adaptive Cable-Driven Elbow Exoskeleton Inspired by the Shrimp Shell"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4653-8848","authenticated-orcid":false,"given":"Mengqian","family":"Tian","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yishan","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7214-0091","authenticated-orcid":false,"given":"Zhiquan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6649-1485","authenticated-orcid":false,"given":"Xingsong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Southeast University, Nanjing 211189, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4159-9932","authenticated-orcid":false,"given":"Qi","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-2759-9065","authenticated-orcid":false,"given":"Bin","family":"Liu","sequence":"additional","affiliation":[{"name":"Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou 215163, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,4,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1502","DOI":"10.1016\/S0140-6736(08)61620-7","article-title":"Multiple sclerosis","volume":"372","author":"Compston","year":"2008","journal-title":"Lancet"},{"key":"ref_2","unstructured":"Wilson, R., and Raghavan, P. 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