AXO-SUIT - a modular full-body exoskeleton for physical assistance

Simon Christensen, Shaoping Bai, Sajid Rafique, Magnus Isaksson, Leonard O’Sullivan, Valerie Power, Gurvinder Singh Virk

Research output: Contribution to journalArticlepeer-review

Abstract

This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

Original languageEnglish
Pages (from-to)443-450
Number of pages8
JournalMechanisms and Machine Science
Volume66
DOIs
Publication statusPublished - 2019

Keywords

  • Physical assistance for the elderly
  • Robotic exoskeletons
  • Spherical shoulder mechanism
  • User-centered design

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