Full Body Exoskeleton

Exoskeleton for upper body robotic assistance


Full Body Exoskeleton
The system covers the entire kinematics of the human body (Photo: Meltem Yilmaz, DFKI GmbH)

Technical Details

Size: 531mm x 810mm x 1640mm (adjustable)
Weight: 41 kg
Power supply: 48 V
Actuation/ Engine:
30 aktive DOF (20 x BLDC Robodrive, 2x Maxon, 6x Allied Motion)
Sensors:
8 x iC-Haus MH, 48 x iC-Haus MU, 2 x Honeywell FG10N, 8 ATI Nano 25, 2 ATI Nano 17, 2 kapazitive Touch- Sensoren, 6 Waycon cable pull Positionssensoren, 2 Waycon Positionssensoren.
Communication:
30 BLDC Stacks für die verteilte Gelenkregelung, 2 DFKI ZynqBrain V1.1 , DFKI multi e-fuse Platine, Kommunikation über NdlCom.

Organisational Details

Partner:

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: KiMMI-SF
Adaptive software framework for context-sensitive, intuitive man-machine-interaction (06.2020- 05.2023)
EXPECT
Exploring the Potential of Pervasive Embedded Brain Reading in Human Robot Collaborations (06.2020- 05.2024)
TransFIT
Flexible Interaction for infrastructures establishment by means of teleoperation and direct collaboration; transfer into industry 4.0 (07.2017- 06.2021)
Recupera REHA
Full-body exoskeleton for upper body robotic assistance (09.2014- 12.2017)
Capio
Dual-arm exoskeleton (01.2011- 12.2013)
VI-Bot
Virtual Immersion for holistic feedback control of semi-autonomous robots (01.2008- 12.2010)
IMMI
Intelligent Man-Machine Interface - Adaptive Brain-reading for assistive robotics (05.2010- 04.2015)
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: HyRoDyn
Hybrid Robot Dynamics
CAD-2-SIM
Computer Aided Design To Simulation
pySPACE
Signal Processing and Classification Environment written in Python
reSPACE
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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© DFKI GmbH
last updated 06.10.2020
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