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KIT-EXO-1

company logo for KIT KIT

Country: Germany

Summary

The exoskeleton KIT-EXO-1 was introduced in 2013 with the aim to augment human capabilities or to use it in rehabilitation applications. Two DoFs at the knee and ankle; passive DoF

Status: Prototype, Research

Operation: Wearable

Robot Type / Domain: Research

Tasks: rehabilitation, augment human capabilities

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The exoskeleton KIT-EXO-1 was introduced in 2013 with the aim to augment human capabilities or to use it in rehabilitation applications. It has two degrees of freedom at the knee and ankle, as well as a passive degree of freedom allowing the user to move the lower ankle joint. The active degrees of freedom are driven by an elastic or a stiff actuator, which can apply a maximum torque of 120 Nm. Using a series elasticity increases actuator efficiency and user safety when wearing the exoskeleton device. Straps from a commercial orthosis and a sports shoe are installed to interface user and construction. Integrated force sensors in the belts measure the forces between user and exoskeleton during operation and current research aims to generate an intuitive device control based on force data.

Technical Specifications

Max. Size: N/A

Max. Payload: 75 kg

Max. Payload: 165.347 lbs

Weight: 1.1 kg

Weight: 2.425 lbs

DOFs (total): 3

Battery Operated? N/A

Average Runtime: N/A

Max. Runtime: N/A

Battery Recharge Time: N/A

Body Part: Lower body, Other, Legs

Purpose: Recovery / Rehabilitation

Mobility: Mobile

Structure: Rigid

Action: Active / Powered, Passive

Powered Tech: Electric Actuator, Other, None

IP Rating: N/A

Operating Temperature: N/A

Open-source? N/A

Price: N/A

Show more specs

Torque: Apply a maximum torque of 120 Nm

Body weigh: carry a body weight of 75 kg

Orthotic joints limit: Mechanical stops of the orthotic joints limit the dorsiflexion/plantarflexion to 25◦ / 45◦ in the ankle and to 0◦ knee extension. The maximum knee flexion is 65◦ which should allow walking with moderate speed

Sensors: Integrated force sensors in the belts measure the forces between user and exoskeleton during operation

Material: Three basic frame parts for thigh, shank and foot are connected by orthothic joints (Otto Bock, 17B47=20 / 17B57=20); Soft aluminum (EN-AW 5083)

Actuators: Series Elastic Actuators - linear SEA consisting of a satellite roller screw linked to driving unit with brushless DC-motor (Parker K044, max. 400W) and an optional elastic element

No more specs to show.

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References

J. Beil, G. Perner and T. Asfour, "Design and control of the lower limb exoskeleton KIT-EXO-1," 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015, pp. 119-124, doi: 10.1109/ICORR.2015.7281186.

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