The WalkON Suit F1, developed by EXO Lab, features a unique design that envelopes around the front of the pilot, differing from existing powered exoskeletons that typically envelop the pilot from behind. Existing powered exoskeletons require two transfer steps during the donning process: first, from a wheelchair to a chair, and then from the chair to the exoskeleton. However, these transfers place significant strain on the pilot’s wrists, increasing the risk of wrist injuries. To address this issue, the WalkON Suit F1 is designed to allow the pilot to don and doff the powered exoskeleton directly from a seated position in a wheelchair. By wrapping around the front of the pilot, the exoskeleton eliminates the need for multiple transfers. Before donning the WalkON Suit F1, the pilot wears foot-shank wearing part, designed in the form of boots, as well as an upper body wearing part. Each wearing part is equipped with a docking unit that enables it to securely connect with the WalkON Suit F1.

One of the most distinctive features of the WalkON Suit F1 is its ability to autonomously approach the pilot and initiate the donning process without the need for caregiver assistance. In this process, the WalkON Suit F1 serves a dual role: as a powered exoskeleton that supports upright posture and ambulation for individuals with complete paraplegia, and as a humanoid robot capable of independent locomotion. This dual functionality allows the system to seamlessly transition between modes—operating as a wearable exoskeleton when donned and as a mobile humanoid robot when navigating autonomously. To enable smooth operation in both configurations, the design was optimized from the outset, with careful consideration given to actuator torque capacity, overall center of mass, and the pilot’s reachable workspace.