WalkON Suit: A Medalist in the Powered Exoskeleton Race of Cybathlon 2016

Choi, Jungsu; Na, Byeonghun; Jung, Pyeong-Gook; Rha, Dong-Wook; Kong, Kyoungchul

doi:10.1109/mra.2017.2752285

Cited by 37 publications

(25 citation statements)

References 12 publications

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“…The WalkON Suit with the proposed UI system was utilized for a complete paraplegic to carry the torch of the Pyeongchang Paralympics 2018, as shown in Figure 1. In addition to the new UI, the WalkON Suit revealed through the Pyeongchang Paralympics was different from the previous version introduced at the Cybathlon 2016 [29] in many aspects. In particular, the design of the WalkON Suit has been improved aesthetically while fulfilling the role of a torch bearer.…”

Section: Introductionmentioning

confidence: 84%

“…The WalkON Suit was first introduced to the public through the Powered Exoskeleton Race of the Cybathlon 2016 [29], where the pilot of the WalkON Suit, Mr. Byeongwook Kim, won the bronze medal. The control of the WalkON Suit, however, was not simple enough for a paralyzed user, because the user had to check the operation state continuously through a small LCD display, like the other powered exoskeletons.…”

Section: Configuration Of the Walkon Suitmentioning

confidence: 99%

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A User Interface System with See-Through Display for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

Choi

Na²,

Lee³

et al. 2018

Applied Sciences

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In the development of powered exoskeletons for paraplegics due to complete spinal cord injury, a convenient and reliable user-interface (UI) is one of the mandatory requirements. In most of such robots, a user (i.e., the complete paraplegic wearing a powered exoskeleton) may not be able to avoid using crutches for safety reasons. As both the sensory and motor functions of the paralyzed legs are impaired, the users should frequently check the feet positions to ensure the proper ground contact. Therefore, the UI of powered exoskeletons should be designed such that it is easy to be controlled while using crutches and to monitor the operation state without any obstruction of sight. In this paper, a UI system of the WalkON Suit, a powered exoskeleton for complete paraplegics, is introduced. The proposed UI system consists of see-through display (STD) glasses and a display and tact switches installed on a crutch for the user to control motion modes and the walking speed. Moreover, the user can monitor the operation state using the STD glasses, which enables the head to be positioned up. The proposed UI system is verified by experimental results in this paper. The proposed UI system was applied to the WalkON Suit for the torch relay of the 2018 Pyeongchang Paralympics.

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Section: Introductionmentioning

confidence: 84%

Section: Configuration Of the Walkon Suitmentioning

confidence: 99%

A User Interface System with See-Through Display for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

Choi

Na²,

Lee³

et al. 2018

Applied Sciences

Self Cite

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show abstract

“…The control mechanism of the WAD is based on finding a balancing point between the target assist desired force of the user with the generated force feedback from the force sensors attached to the foot arches of the WAD [52]. Similarly, the WalkON Suit was designed to assist paraplegics to walk and exercise [53]. The control technology is based on a hybrid actuation mechanism and a biarticular transmission system.…”

Section: ) Power Assist Suits (Pas)mentioning

confidence: 99%

“…Based on this, administering exoskeleton to a subject could be challenging due to the vast variation and compositions of various human body parts. In Cybathlon [53], earlier evaluation revealed that the bone mineral density of the subject was within the normal limit, however, later evaluation showed that the rate of motion of his knee joints has been limited due to prolonged use of a wheelchair. Hence, how to analyze wearable robotic devices and prosthesis to obtain the best physical form remains a challenge.…”

Section: Human Factorsmentioning

confidence: 99%

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Ogenyi

Liu

Yang

et al. 2021

IEEE Trans. Cybern.

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This paper presents a state-of-the-art survey on robotic systems, sensors, actuators and collaborative strategies for Physical Human-Robot Collaboration (pHRC). The paper starts with an overview of some robotic systems with cuttingedge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances made, some research directions, and future challenges are presented.

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“…Several commercial devices including Rewalk TM ; 13,14 Ekso TM ; 15,16 HAL r ; [17][18][19][20] and Indego TM ; [21][22][23][24][25] are on the market. Mina v2 [26][27][28] (Florida Institute for Human and Machine Cognition, USA) and WalkON Suit 29,30 (Sogang University, South Korea) are the representational devices of universities and other research establishments.…”

Section: Introductionmentioning

confidence: 99%

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

Zheng

Liu

Wang

et al. 2019

J. Mech. Med. Biol.

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Lower-limb exoskeletons are an effective means to provide paraplegic and hemiplegic individuals with the ability to walk upright. A lot of studies about lower-limb exoskeletons have been developed to assist the impaired populations. However, the existing devices are still too technically complex and expensive for practicality. In this paper, a compact lower-limb exoskeleton for walking assistance is developed, in which a steel-cable actuator is specially designed. In order to accomplish the different tasks presented to gait generation, a control method with multiple stages is employed. In this approach, four basic states and seven intended motions are designed for the finite-state machine. In addition, the reference trajectories of these intended motions are presented and fitted by a modified first-order polynomialfitting method. Preliminary motion tests of the exoskeleton with three healthy subjects are performed. The results verify the effectiveness of the system design and the gait-generation approach proposed in this paper. The overall exoskeleton system is compact and the corresponding operations are convenient and reliable.

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WalkON Suit: A Medalist in the Powered Exoskeleton Race of Cybathlon 2016

Cited by 37 publications

References 12 publications

A User Interface System with See-Through Display for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

A User Interface System with See-Through Display for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Development of a Compact Lower-Limb Exoskeleton for Walking Assistance: A Case Study

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