This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator (VSA) in all 6 joints, a directional-flexibility structure and a novel physical human-robot interfacing, which allow it to deliver the required output while minimally constraining user’s gait by providing passive degrees of freedom. Due to the modularity, exoskeleton can be used as a full lower-limb orthosis, a single-joint orthosis in any of the three joints, and a two-joint orthosis in a combi- nation of any of the two joints. By employing a simple torque control strategy, exoskeleton can be used to deliver a user- specific assistance, both in gait rehabilitation and in assisting people suffering musculoskeletal impairments. The result of the presented BioMot efforts is a low footprint-exoskeleton with powerful compliant actuators, simple, yet effective torque controller and easily adjustable flexible structure.
Original languageEnglish
Title of host publication15th IEEE International Conference on Rehabilitation Robotics (ICORR) 2017
Number of pages6
StatePublished - 2017
Event15th IEEE International Conference on Rehabilitation Robotics - London, United Kingdom
Duration: 17 Jul 201721 Jul 2017


Conference15th IEEE International Conference on Rehabilitation Robotics
Abbreviated title ICORR 2017
CountryUnited Kingdom

    Research areas

  • wearable robotics, variable impedance actuators, rehabilitation robotics, compliant actuators

ID: 29465102