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The LOPES can be used to assist patients (e.g. stroke, SCI) during walking or assess gait impairments. It has eight powered degrees of freedom (hip flexion/extension, hip abduction/aduction, knee flexion/extension, pelvis forward/backward and pelvis mediolateral). Other degrees of freedom are left free. The robot is attached with a minimal amount of clamps which results in a short donning and doffing time. It is admittance controlled and allows for control over the complete spectrum from low to high impedance. Kinematics and interaction forces are measured by the device and it can be easily combined with EMG measurements. It allows to test new controllers (e.g. for exoskeletons) or assessment algorithms in a safe environment.

Key features:
  • Short donning and doffing time
  • 8 powered degrees of freedom
  • Integrated sensors to measure kinematics and interaction forces
  • Admittance controlled: control from low to high impedance possible
  • Simulink development library, allowing easy integration of new control algorithms
Possible applications:
  • Controller development for exoskeletons
  • Human-Robot Interaction
  • Gait assessment
  • Gait training
  • Human-in-the-loop testing

Technical specifications

Maximal Torque (varying per joint):60-66 Nm
Control:Admittance control
Other free degrees of freedom:9
Powered degrees of freedom:8
Donning time:5-15 minutes
Maximal rendered stiffness:1500 Nm/rad

Access information

Corresponding infrastructureUniversity of Twente
Department of Robotics
LocationHallenweg 15, 7522 NH Enschede, Holland
Unit of accessWorking day

Additional information

The design and control of LOPES is described in detail in the PhD thesis of Jos Meuleman http://josmeuleman.nl/thesis.html

Information on LOPES related project can be found at https://www.utwente.nl/en/et/be/research/projects/lopes


Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

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