Exoskeleton active (CAPIO)

Capio Upper Body Exoskeleton for Teleoperation

Technical Details

Size: 0,8 m x 0,87 m x 0,5 m
Weight: 24 kg
Power supply:
Medical power supply 48 V / 31 A according to DIN / EN60601-1
Actuation/ Engine:
Rotative HarmonicDrive / Robodrive actuators 14 – 60 Nm at the upper arm , linear Robodrive screw drive 790 N at the back , Dynamixel 24 F at the lower arm, Servomotor MKS DS 95 at the hand interface
20 x iC-Haus MH , 33 x iC-Haus MU, 7 x ATI Nano 25 force/torque sensor, 2 x Honeywell force sensor
Network of three independent CAN-bus systems for control purposes

Organisational Details

Sponsor: Federal Ministry of Education and Research
Grant number: 01IW10001
Application Field: Space Robotics
Related Projects: ROBDEKON
Robot systems for decontamination in hostile environments (06.2018- 06.2022)
Recupera REHA
Full-body exoskeleton for upper body robotic assistance (09.2014- 12.2017)
Virtual Immersion for holistic feedback control of semi-autonomous robots (01.2008- 12.2010)
Related Robots: Exoskeleton Active (VI-Bot)
Upper body Exoskeleton (right arm)
Exoskeleton Passive (CAPIO)
Upper body Human-Machine-Interface (HMI) for tele-operation
Exoskeleton Passive (VI-Bot)
Upper body exoskeleton (right arm) for motion capturing

System description

Teleoperation scenario: Remote control of the robot AILA (Photo: Jan Albiez, DFKI)

The dual arm upper body exoskeleton is a human-machine-interface used for teleportation of robotic system in a safe and intuitive way with natural movements. The exoskeleton has 8 contact points to the operator and the kinematic structure follows the human movements of the arms and the torso. It transmits the movements to the target system and gives the operator a haptic feedback. The kinematic structure has eight active degree of freedom at each arm and four active degree of freedom at the back.

Further system details:

  • in house developed  STM 32F4 microcontroller board for low-level-control
  • in house developed  joint electronics, consisting of four PCB (power supply, FPGA, sensorics, communication)
  • 3-Layer control architecture. Local velocity-torque control on the low-level, dynamic control and gravity compensation at mid-level, using the open source RBDL library
  • mapping of the movements via UDP


Capio Exoskeleton

Demonstration of the Capio active upper body exoskeleton in teleoperation scenarios.

Capio Exoskeleton: Control via biosignals

Demonstration of the Capio exoskeleton control via biosignals: The intended movement of the human operator is detected by the biosignal data processing which triggers the execution of the targeted movement by the exoskeleton. By means of an eye tracker the desired interaction is detected (focusing on a virtual bottle) and by electroencephalographic signals (EEG), the intended movement and the performing limb are determined. Furthermore, by means of electromyographic signals (EMG), the intended movements are verified.

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last updated 07.11.2023
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