Powered exoskeleton for extreme human mobility
An exoskeletal robot, Exo-Booster, that overcomes the wearer's physical limitations by assisting a high-speed sprinting locomotion. In order to achieve the goal, the exoskeletal robot must augment the wearer's muscle strength without interfering with the locomotion and intentions of the wearer, and safety must be guaranteed. In this point of view, the Exo-Booster is designed to maximize safety, wearability, synchrony, and assistance performance.
The Exo-Booster was customized to the wearer's musculoskeletal shape to guarantee safety and wearability. The superior wearability was verified by comparing the movement of each lower-limb joint between walking with and without a robot.
2019 ~ 2020
A mechanical impedance compensator is applied to reduce the load caused by the robot, such as friction and inertia of geared actuators. Particular-Shaped Adaptive Frequency Oscillator (PSAO) was applied for real-time phase estimation while sprinting, and each actuator outputs the predefined assistance torque according to the estimated phase.
2018 ~ 2019
Robots for maintaining high mobility under heavy loads
This project was carried out to develop a robot that helps soldiers maintain high mobility while carrying heavy loads. We designed the robot's legs to be positioned behind the wearer rather than adopting the existing anthropomorphic exoskeleton form to make this possible. This can prevent a moment from occurring due to a high load and allow less load to be transmitted to the wearer. Furthermore, this robot is controlled to minimize the interaction force between the human and the robot. For this, the impedance control method is applied.