Portable Lightweight Knee Exoskeleton



Property Value
Unilateral Mass 2.8 kg
Bilateral Mass 4.5 kg
Size 570 * 200 * 180 mm
Motor Voltage 48 V
Motor Continuous Torque 13 Nm
Motor Speed 155 RPM
Peak Output Torque 40 Nm
Output Speed 26.2 rad/s
Gear Ratio 6:1
Range of Motion 0 - 160 degrees
Battery Life 2 hours
Wearable Structures Small. Middle, Large
Actuation Type Portable

Portable Exoskeleton Architecture



Portable System

  • Total weight: 2.5 kg (unilateral), 3.9 kg (bilateral)
  • Transmission: 6:1 gear, bi-directional actuation
  • Torque output: 20 Nm torque, >26 rad/s speed
  • Control platform: Arduino Teensy 3.6 microcontroller
  • Tethered System

  • Wearable structure weight: 1 kg
  • Transmission: 24:1 gear, bi-directional actuation
  • Torque output: >50 Nm torque, >6.5 rad/s speed
  • Control platform: MATLAB Simulink Realtime
  • Publication

    1. S. Yu, J. Yang, T. Huang, J. Zhu, C. Visco, F. Hameed, J. Stein, X. Zhou and H. Su, “Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction” in Annals of Biomedical Engineering, 2023. PDF

    2. S. Yu, T.H. Huang, A. Di Lallo, S. Zhang, T. Wang, Q. Fu, and H. Su "Bio-Inspired Design of a Self-Aligning, Lightweight, and Highly-Compliant Cable-Driven Knee Exoskeleton" Frontiers in Human Neuroscience. p.763. Nov. 2022. PDF

    3. T. Huang*, S. Zhang*, S. Yu, M. MacLean, J. Zhu, A. Lallo, C. Jia, T. Bulea, M. Zheng and H. Su, " "Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance," in IEEE Transactions on Robotics, vol. 38, no. 3, pp. 1442-1459, Jun. 2022. PDF | Video

    4. S. Luo, G. Androwis, S. Adamovich, H. Su, E. Nunez and X. Zhou. "Reinforcement Learning and Control of a Lower Extremity Exoskeleton for Squat Assistance." Frontier Robotics & AI 8:702845. 2021. PDF

    5. S. Chen, D.T. Stevenson, S. Yu, M. Mioskowska, J. Yi, H. Su, M. Trkov, "Wearable Knee Assistive Devices for Kneeling Tasks in Construction," in IEEE/ASME Transactions on Mechatronics, vol. 26, no. 4, pp. 1989-1996, Aug. 2021. PDF

    6. J. Wang, X. Li, T. Huang, S. Yu, Y. Li, T. Chen, A. Carriero, M. Oh-Park, H. Su, “Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton”, IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 4265-4272, Oct. 2018. PDF | Video | Code