Full Body Exoskeleton

Exoskeleton for upper body robotic assistance

Technical Details

Size: 531mm x 810mm x 1640mm (adjustable)
Weight: 45,9 kg
Power supply:
48 V
Actuation/ Engine:
34 active DOF (22 x BLDC Robodrive, 2x Maxon, 6x Allied Motion, 6x Dynamixel, 6x MKS DS95)
50 x iC-Haus MU, 6 x Honeywell FG10N, 8 ATI Nano 25, , 2 kapazitive touch sensors, 6 Waycon cable pull position sensors, 2 Waycon Linarpotentionmeter LZW1, XSENS IMU MTi-300-2A8G4, 2 Burster 8435 force sensors.
33 BLDC Stacks für die verteilte Gelenkregelung, 2 DFKI ZynqBrain V1.1 , DFKI multi e-fuse Platine, RS485 Dynamixel, Kommunikation über NdlCom.

Organisational Details


rehaworks GmbH

Sponsor: Federal Ministry of Education and Research
German Aerospace Center e.V.
Grant number: Funded by the Federal Ministry of Education and Research, DLR, Project Management Agency, Software Systems and Knowledge Technologies: 01IM14006A
Application Field: Assistance- and Rehabilitation Systems
Space Robotics
Related Projects: Recupera REHA
Full-body exoskeleton for upper body robotic assistance (09.2014- 12.2017)
Exploring the Potential of Pervasive Embedded Brain Reading in Human Robot Collaborations (06.2020- 05.2024)
Intelligent Man-Machine Interface - Adaptive Brain-reading for assistive robotics (05.2010- 04.2015)
Dual-arm exoskeleton (01.2011- 12.2013)
Virtual Immersion for holistic feedback control of semi-autonomous robots (01.2008- 12.2010)
Related Robots: Exoskeleton active (CAPIO)
Capio Upper Body Exoskeleton for Teleoperation
Exoskeleton Passive (CAPIO)
Upper body Human-Machine-Interface (HMI) for tele-operation
Exoskeleton Passive (VI-Bot)
Upper body exoskeleton (right arm) for motion capturing
Related Software: CAD-2-SIM
Computer Aided Design To Simulation
Signal Processing and Classification Environment written in Python
Reconfigurable Signal Processing and Classification Environment

System description

The active full body exoskeleton from the back

The active full body exoskeleton is a human-machine-interface developed to create synergies between man and machine in order to optimize processes and the workflow of upper body rehabilitation. The exoskeleton has seven contact points to the operator and the kinematic structure follows the human movements. In order to achieve the autonomy required for rehabilitation applications, all processing is performed by a small computing system that is embedded into the system. The kinematic structure has five active degrees of freedom at each arm, six at the back, six at the hip, two at the legs and six at the feet.

Further Details:

  • 3-hierarchical-layer-based control architecture. Robust cascaded velocity-position-current control on the low-level, dynamic control, gravity compensation and biosignal integration at mid-level (for the upper body) and controllability over a Web GUI at high-level
  • 3 therapy modes implemented for the upper body:
    Master-Slave, Teach-In and Replay, gravity compensated free running mode.
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last updated 08.07.2024