Biomechatronics and Intelligent Robotics Lab

Portable Lightweight and Compliant Knee Exoskeleton



Specifications

Property Value
Unilateral Mass 1.33 kg
Bilateral Mass
(including battery, electronics)		 3.3 kg
Voltage 24 V
Continuous Torque 9 Nm
Speed 170 RPM
Peak Output Torque 27 Nm
Gear Ratio 9:1
Range of Motion 0 - 160 degrees
Battery Life 2 hours
Wearable Structures Small. Middle, Large
Actuation Type Portable

    Download Datasheet



Portable Exoskeleton Architecture


Video


Our Portable Knee Exoskeleton

  • Weight: 1.33 kg (unilateral), 3.3 kg (bilateral)
  • Transmission: 9:1 gear, bi-directional
  • Output: 27 Nm torque, >26 rad/s speed
  • Control platform: Arduino Teensy 4.1

    • Our Tethered Knee Actuation Platform

  • Wearable structure weight: 1 kg
  • Transmission: 24:1 gear, bi-directional
  • Output: >50 Nm torque, >6.5 rad/s speed
  • Control platform: MATLAB Simulink Realtime


    • Related Publication

    1. S. Yu, J. Yang, T. Huang, J. Zhu, C. Visco, F. Hameed, J. Stein, X. Zhou and H. Su, “Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction” in Annals of Biomedical Engineering, 2023. PDF
    2. S. Yu, T.H. Huang, A. Di Lallo, S. Zhang, T. Wang, Q. Fu, and H. Su "Bio-Inspired Design of a Self-Aligning, Lightweight, and Highly-Compliant Cable-Driven Knee Exoskeleton" Frontiers in Human Neuroscience. p.763. Nov. 2022. PDF
    3. T. Huang*, S. Zhang*, S. Yu, M. MacLean, J. Zhu, A. Lallo, C. Jia, T. Bulea, M. Zheng and H. Su, " "Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance," in IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1442-1459, Jun. 2022. PDF | Video
    4. S. Luo, G. Androwis, S. Adamovich, H. Su, E. Nunez and X. Zhou. "Reinforcement Learning and Control of a Lower Extremity Exoskeleton for Squat Assistance." Frontier Robotics & AI 8:702845. 2021 PDF
    5. S. Chen, D.T. Stevenson, S. Yu, M. Mioskowska, J. Yi, H. Su, M. Trkov, "Wearable Knee Assistive Devices for Kneeling Tasks in Construction," in IEEE/ASME Transactions on Mechatronics, vol. 26, no. 4, pp. 1989-1996, Aug. 2021. PDF
    6. J. Wang, X. Li, T. Huang, S. Yu, Y. Li, T. Chen, A. Carriero, M. Oh-Park, H. Su, “Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton”, IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4265-4272, Oct. 2018 PDF | Video | Code