Exoskeleton active (Capio)

Capio Upper Body Exoskeleton for Teleoperation

Exoskeleton active (Capio)
CAPIO upper-body dual-arm exoskeleton (Photo: Annemarie Popp, DFKI)

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: NoGravEx
Feasibility study for simulated micro gravity based on an exoskeleton: No Gravity Exoskeleton (NoGravEx) (01.2022- 12.2023)
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)
Semi-autonomous cooperative exploration of planetary surfaces including the installation of a logistic chain as well as consideration of the terrestrial applicability of individual aspects (05.2013- 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 Exoskelett

Demonstration des aktiven Capio Oberkörper-Exoskeletts für Anwendungen in der Teleoperation.

Capio Exoskelett: Ansteuerung über Biosignale

Demonstration der Ansteuerung des Capio Exoskeletts über Biosignale: Das Exoskelett-System erfasst durch die Verarbeitung von Biosignalen die Bewegungsintention des Operators und führt eine zielgerichtete aktive Bewegung des rechten oder linken Arms aus. Hierbei wird mittels Eye-Tracker der Interaktionswunsch erfasst (Fixierung einer virtuellen Flasche), mittels elektroenzephalographischer Signale (EEG) die Bewegungsintention des linken bzw. rechten Arms ermittelt und durch elektromyographische Signale (EMG) die Bewegungsintention zusätzlich verifiziert.

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last updated 04.05.2022
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