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

Access information

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

Technical specifications

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

Additional information

Additional Information available here and here.