Bionics Lab › Research > Wearable Robotics

Wearable Robotics - Exoskeletons


The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for three fundamental applications: a human-amplifier assistive device sharing a portion of the external load with the operator, haptic device, and automatic physiotherapy.

The current research effort with the upper limb exoskeleton is focused on the developing human machine interface (bioport) at the neuromuscular level using EMG (electromyography) signals as the primary command signal to the system. The research effort with the lower limb exoskeleton is focused on developing a semi active system for improving the ability of the operator to carry a payload.



Devices



Upper-Limb Exoskeleton Prototype 1
EXO-UL1

The upper-limb first exoskeleton prototype is a one DOF system (elbow joint) aimed to study the feasibility of an EMG bioports.

| Status: Completed |




Upper-Limb Exoskeleton Prototype 2
EXO-UL3

The second upper-limb exoskeleton prototype is a three DOF system (1- elbow; 2 shoulder) aimed to study multiple joint movements using EMG bioports.

| Status: Completed |




Upper-Limb Exoskeleton Prototype 3
EXO-UL7

The third upper-limb exoskeleton prototype composed of two arms with seven DOF each (3 shoulder joint; 1 elbow joint; 3 wrist) aimed to study fully functional multiple joint movements of the human arms.

| Status: Active Research |



Lower-Limb Exoskeleton Prototype 1
EXO-LL12

The first lower-limb exoskeleton prototype is a 12 DOF system (6 DOF per leg: 3 hip joint; 1 knee joint; 2 ankle) aimed to assist in carrying a payload.

| Status: Active Research |

   

 



Projects


Virtual Worlds / Games With Haptics Utilizing Microsoft Robotic Studio Toolbox


Device: EXO-UL7
Methodology: Robotics Studio - Microsoft
Status: Active Research

The Human Arm Kinematics and Dynamics During Daily Activities Toward a 7 DOF Upper Limb Powered Exoskeleton

Device: Vicon System (Real-Time)
Methodology: Human Subjects -Arm Kinematics / Dynamics
Status: Completed

Performance Hill-Based Model as a Myoprocessor for a Neural Controlled Powered Exoskeleton Arm - Parameters Optimization

Device: various Cybex Strength Machines / Exoskeleton Prototype 3 - Passive Mode
Methodology: Human Subjects - Real-Time Human Muscle Simulation
Status: Completed

Performance Evaluation of a One DOF Myosignal-Based Powered Exoskeleton System

Device: Exoskeleton Prototype 1 - Active Mode (Real-Time)
Methodology: Human Subjects - Real-Time Human Muscle Simulation
Status: Completed


Performances of Hill-Type and Neural Network Muscle Models - Towards a Myosignal Based Exoskeleton

Device: Exoskeleton Prototype 1 - Passive Mode
Methodology: Human Subjects - Off-Line Muscle Modeling / Simulation
Status: Completed

 



Video Clips



The Powered Exoskeleton Concept

The exoskeleton concept as demonstrated by Lt. Ellen Ripley operating the Caterpillar P-5000 Powered Work Loader in the science fiction movie Aliens


EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system as an assistive device




EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system in a teleopration mode.



EXO-UL1 - The Exoskeleton system Prototype 1
The Exoskeleton system operated by a disabled person as an assistive device.



EXO-UL3 - Exoskeleton Prototype 2
The Exoskeleton system as an assistive device



EXO-UL7 - Exoskeleton Prototype 3
The Exoskeleton system degrees of freedom

News


IEEE Spectrum




The Rise of the Body Bots (PDF 2.7 MB)

| Spectrum URL | Projects in the US | Photo Gallery |
| EXO-7 - Exoskeleton |


Exoskeletons - An Interview with IEEE Spectrum Correspondent
Erico Guizzo
URL Link - Select Oct. 2005 > Exoskeleton
Download the MP3 File
   

 



Local

Santa Cruz Sentinel - UC Santa Cruz engineers build robotic arms to aid physical therapists-
January 18, 2009



Tech Blogs

Biongbiong - Robotic exoskeleton for arms
January 13, 2009

MedGadget - Research Into Smart Therapeutic Exoskeleton
January 13, 2009

Physorg - Medical robotics expert explores the human-machine interface
January 18, 2009

MedGadget - New Robotic Exoskeleton to Amplify the Wearer's Arm Strength
January 13, 2009

Softpedia - Raven, the Mobile Surgical Space Robot
January 14, 2009

Gizmo Watch - Another step towards a bionic man: robotic exoskeleton for arms
January 14, 2009

Gadgetted - Medical robotics expert explores the human-machine interface
January 15, 2009

insciences - Medical robotics expert explores the human-machine interface
January 13, 2009

Medlaunches - medlaunches Wearable robotic exoskeleton lends mechanized arms to the disabled
January 14, 2009

N+T - Go Go Gadget Cyber Arms
January 14, 2009

MedGadget - Raven, the Mobile Surgical Space Robot

April 20, 2007



Misc. Web Sites

Science News For Kids - Supersuits for Superheroes