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Image KIT-EXO-1

KIT-EXO-1

The exoskeleton KIT-EXO-1 was developed with the aim to augment human capabilities or to use it in rehabilitation applications. It has two active DOF at the knee and ankle joint to support flexion/extension movement. The linear actuators consist of brushless DC-motors, coupled to planetary roller screws and an optional serial spring. They are equipped with absolute and relative position encoders as well as a force sensor and can be controlled via the ArmarX software framework (https://armarx.humanoids.kit.edu). Eight additional force sensors, which are distributed on the exoskeleton measure interaction forces between user and exoskeleton at thigh, shank and foot and can be used for research on intuitive exoskeleton control or to assess the kinematic compatibility of new joint mechanisms.

Key features:
  • Lower limb exoskeleton with 2 DoF
  • Linear actuators with force and position sensing
  • Eight force sensors measure interaction forces between human and exoskeleton
  • Position, velocity, current and force control on joint level
  • CANopen and RS-232 (over USB) communication
Possible applications:
  • Exoskeleton control based on actuator and interaction forces
  • Assessment of the kinematic compatibility of new joint mechanisms
  • Motion classification or prediction with a multi-modal sensor setup
  • Tests of new joint mechanisms for knee and ankle joint

Technical specifications

OS:Ubuntu Linux 16.04
Interface:CANopen / RS232 / USB
Power supply:48V, 10A peak
Total Weight:4 kg
Actuator force:3000 N
DoA:2
Actuator speed:100 mm/s
Software:ArmarX

Access information

Corresponding infrastructureKarlsruhe Institute of Technology
Institute of Anthropomatics and Robotics - High Performance Humanoid Technologies Lab (IAR H2T)
LocationAdenauerring 2, 76131 Karlsruhe, Germany
Unit of accessWorking day

Additional information

Additional Information available here and here.

TERRINet OFFICIAL STATEMENT

Coronavirus pandemic

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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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