Skip to main content
SpringerLink
Log in

Development of a Lower Limb Exoskeleton Worn on the Front of a Human

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

This paper introduces a new concept of a lower limb exoskeleton, KUEX, and its control framework. KUEX is a fully actuated system and is developed for a wearer’s walking assistance and sit-to-stand/stand-to-sit assistance. Because of full actuation, it is able to balance by itself and assist the wearer’s weight directly. Also, it is worn on the wearer’s front side. As the reason, it is easy to wear the robot and is able to reduce wearing time. The control framework for KUEX is composed with a walking pattern generator and various controllers to operate the robot based on the finite state machine. The hardware and the control framework of KUEX were verified through the various experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Jezernik, S., et al.: Robotic orthosis lokomat: a rehabilitation and research tool. Neuromodulation: Technol. Neural Interface 6(2), 108–115 (2003)

    Article  Google Scholar 

  2. Jung, J.H., Lee, N.G., You, J.H., Lee, D.C.: Validity and feasibility of intelligent Walkbot system. Electron. Lett. 45(20), 1016–1017 (2009)

    Article  Google Scholar 

  3. Jung, C.Y., Choi, J., Park, S., Lee, J.M., Kim, C., Kim, S.J.: Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, pp. 2095–2100 (2014)

  4. Argo medical technologies rewalk website. [Online]. Available: www.rewalk.com

  5. Cyberdyne inc. hal website. [Online]. Available: www.cyberdyne.jp

  6. Tsukahara, A., Hasegawa, Y., Sankai, Y.: Standing-up motion support for paraplegic patient with Robot Suit HAL. In: 2009 IEEE International Conference on Rehabilitation Robotics, Kyoto International Conference Center, pp. 211–217 (2009)

  7. AlterG bionic leg website. [Online]. Available: http://www.alterg.com/products/bionic-leg/professional-physical-therapy

  8. Kwa, H.K., Noorden, J.H., Missel, M., Craig, T., Pratt, J.E., Neuhaus, P.D.: Development of the IHMC mobility assist exoskeleton. Presented at the 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 2556–2562 (2009)

  9. Neuhaus, P.D., Noorden, J.H., Craig, T.J., Torres, T., Kirschbaum, J., Pratt, J.E.: Design and evaluation of Mina: a robotic orthosis for paraplegics. In: 2011 IEEE 12th International Conference on Rehabilitation Robotics: Reaching Users & the Community (ICORR 2011), pp. 1–8 (2011)

  10. Pratt, J.E., Krupp, B.T., Morse, C.J., Collins, S.H.: The RoboKnee: an exoskeleton for enhancing strength and endurance during walking. In: Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, pp. 2430–2435 (2004)

  11. Kim, J.-H., Shim, M., Ahn, D.H., Son, B.J., Kim, S.-Y., Kim, D.Y., Baek, Y.S., Cho, B.-K.: Design of a knee exoskeleton using foot pressure and knee torque sensors. Int. J. Adv. Robot. Syst. 12(Issue 8), 1–23 (2015)

    Article  Google Scholar 

  12. Kagawa, T., Uno, Y.: A human interface for stride control on a wearable robot. Presented at the Intelligent Robots and Systems. IEEE/RSJ International Conference on IROS 2009, pp. 4067–4072 (2009)

  13. Herr, H., Walsh, C.J., Endo, K.: A quasi-passive leg exoskeleton for load-carrying augmentation. Int. J. Human. Robot. 4(3), 487–506 (2007)

    Article  Google Scholar 

  14. Walsh, C.J., Paluska, D., Pasch, K., Grand, W., Valiente, A., Herr, H.: Development of a lightweight, underactuated exoskeleton for load-carrying augmentation. Presented at the Robotics and Automation, 2009. IEEE International Conference on ICRA ’09, pp. 3485–3491 (2006)

  15. Beil, J., Perner, G., Asfour, T.: Design and control of the lower limb exoskeleton KIT-EXO-1. In: IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, pp. 119–124 (2015)

  16. Ekso bionics website. Available: www.eksobionics.com. (accessed 1 November 2018)

  17. Parker hannifin corp. indego website. Available: www.indego.com (accessed 1 November 2018)

  18. www.wandercraft.eu (accessed 1 November 2018)

  19. Kilicarslan, A., Prasad, S., Grossman, R.G., et al.: High accuracy decoding of user intentions using EEG to control a lower- body exoskeleton. In: 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Osaka, Japan, 3 July, pp. 5606–5609. IEEE (2013)

  20. Rupal, B.S., et al.: Lower limb exoskeletons: research trends and regulatory guidelines in medical and non-medical applications. Int. J. Adv. Robot. Syst. https://doi.org/10.1177/1729881417743554 (2017)

    Article  Google Scholar 

  21. RB3D website. Available: www.rb3d.com/en/exo. (accessed 1 November 2018)

  22. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. Presented at the Robotics and Automation. In: Proceedings. IEEE International Conference on ICRA ’03, pp. 1620–1626 (2003)

  23. Cho, B.-K., Kim, J.-H., Oh, J.-H.: Online Balance controllers for a hopping and running humanoid robot. Adv. Robot. 25(9–10), 1209–1225 (2011)

    Article  Google Scholar 

  24. Cho, B.-K., Ahn, D.H., Jun, Y.B., Oh, P.: A posture balance controller for a humanoid robot using state and disturbance-observer-based state feedback. J. Intell. Robot. Syst. 1–19 (2018)

Download references

Acknowledgements

This material is based upon work supported by the Ministry of Trade, Industry & Energy(MOTIE, Korea) under Industrial Technology Innovation Program. No.10067184, ‘Development of Disaster Response Robot System for Lifesaving and Supporting Fire Fighters at Complex Disaster Environment’

Author information

Authors and Affiliations

  1. Department of Mechanical System Design Engineering, Seoul National University of Science & Technology, 232 Gongneung-ro, Nowon-gu, Seoul, Republic of Korea

    Jung-Yup Kim

  2. School of Mechanical Engineering, Kookmin University, Jeongneung-gil, 77)861-1, Jeongneung-dong, Seongbuk-gu, Seoul, 02707, Republic of Korea

    Baek-Kyu Cho

Authors
  1. Jung-Yup Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Baek-Kyu Cho
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Baek-Kyu Cho.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kim, JY., Cho, BK. Development of a Lower Limb Exoskeleton Worn on the Front of a Human. J Intell Robot Syst 96, 49–64 (2019). https://doi.org/10.1007/s10846-018-00979-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-018-00979-8

Keywords

Search

Navigation