ICRA'09 Paper Abstract


Paper FrC7.5

Kwa, Hian Kai (Institute for Human and Machine Cognition), Noorden, Jerryll (Institute for Human and Machine Cognition), Missel, Matthew (Institute for Human and Machine Cognition), Craig, Travis (Institute for Human and Machine Cognition), Pratt, Jerry (Inst. for Human and Machine Cognition), Neuhaus, Peter (Institute for Human and Machine Cognition)

Development of the IHMC Mobility Assist Exoskeleton

Scheduled for presentation during the Regular Sessions "Motion Robotics" (FrC7), Friday, May 15, 2009, 14:50−15:10, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Human Performance Augmentation, Rehabilitation Robotics, Compliance and Impedance Control


The IHMC Mobility Assist Exoskeleton is a robotic suit that a user can wear for strength augmentation or gait generation. This first generation exoskeleton prototype focuses on providing walking assistance to persons with lower extremity paralysis. The main goal is to successfully enable a person that cannot walk without assistance to walk in a straight line a distance of 15 feet. When in disable assist mode this prototype will rely on the user to provide balance control, and thus an external means for balancing will be required, such as crutches or a walker. Power and control is off board and supplied to the Exoskeleton by means of a tether. Rotary Series Elastic Actuators (RSEAs), which have high force fidelity and low impedance were designed to power the joints. This paper describes the design, test results, future work and potential applications of the exoskeleton.



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