WalkON Suit F1

KAIST Exoskeleton Lab

Powered Exoskeleton for Complete Paraplegics – WalkON Suit F1

  • Docking System for Self-Wear

    A docking system that enables the wearer to self-wear and facilitates seamless integration between the human and the robot

    Customized Motor Driver

    A custom-built motor driver that supports high current for high-power operation and incorporates various control algorithms

    Linear Ankle Actuator

    Linear ankle actuator which maximize balancing and gait ability with parallel mechanism

    Smart Control & Application Module

    Smart module resemble human neural system, integrating and managing various sensor data while precise controlling all joints

    RGBD Camera for Vision

    Generate safe motion trajectories by enabling Real-Time environment perception

    Powerful Actuator

    A Planetary gear reducer was applied to the hip and knee-joint-actuation to achieve zero backlash and high-power output of 200 Nm at 80 rpm

    Powerful Actuator

    A Planetary gear reducer was applied to the hip and knee-joint-actuation to achieve zero backlash and high-power output of 200 Nm at 80 rpm

  • Powered Exoskeleton for Complete Paraplegics - WalkON4

    Smart Backpack

    A control system with a built-in learning program, a voice guidance System, and a 3 hour-capacity battery

    Crutch Controller

    The user controls the robot’s motion and checks the robot’s operating status through The controller’s operation button and display

    Powerful Actuator

    A cycloid gear reducer was applied to the hip and knee-joint-actuation modules for lightness of weight and durability with the BLDC motor

    Linear Ankle Actuator

    Linear ankle actuator which maximize balancing and gait ability

  • Wearable Robot for Rehabilitation

    Smart Backpack

    Microprocessor to recognize walking intention is included

    User Application

    Various training modes can be selected User specific information can be stored Usage history are viewed and analyzed

    Wearability

    Size can be adjusted according to the wearer's body size

    Wearability

    Size can be adjusted according to the wearer's body size

    Wearability

    Size can be adjusted according to the wearer's body size

    Zero-Impedence Actuator

    Non-resisteance actuator with precise force control that does not interfere with the wearer's movement and provides 20 levels of precise assisting force

    Foot Pressure Sensor

    Ground contact sensor detects the wearer's intention to move

  • Wearable Robot for Human Augmentation

    Multi-DoF Exoskeleton

    A structure that implements all movements of the sagittal, frontal, and transverse planes so that a large assisting force can be transmitted without interfering with the driving motion

    Super-thin Actuator

    Axially thin high-torque actuator with buried-in cycloidal reducer not to disturb the running motion

    Biomimetic Knee Joint to Reduce Misalignment

    Reducing misalignment due to the one-degree-of-freedom joint structure that simultaneously implements sliding and rotation of the knee joint

    Flexi-foot

    Creating the optimal ankle retention force without additional energy supply, and self-measuring bending deformation with an integrated force sensor

Research and Development Philosophy of WalkON Suit F1: Enabling Independence in Daily Life

WalkON Suit F1 was developed with a primary goal: to enable individuals with complete paraplegia to live independently in daily life. Here, “independence” refers not only to supporting a range of lower-limb locomotion tasks, but also to the full use process. This includes the robot autonomously approaching a wheelchair user upon request, and enabling the user to don and doff the system independently.

To make this possible, the WalkON Suit F1 was developed to satisfy two core requirements. First, when the user requests assistance, the robot should be able to autonomously approach the user and prepare for donning. Second, the user should be able to don and doff the exoskeleton independently, directly from a wheelchair, without burdensome transfers that can strain the upper limbs and minimizing reliance on caregivers.

Based on this philosophy, WalkON Suit F1 features two key capabilities: a self-donning-capable powered exoskeleton, and dual-mode operation as both a wearable and a humanoid robot, referred to as a “wearable humanoid,” described below.

WalkON Suit F1 is not simply a single-product prototype. It is an advanced research and development platform that integrates EXO Lab’s latest component-level technologies, including actuators, motor drivers, sensing, and control algorithms, into a full system so that new technologies can be validated at the system level and refined through real-world operation.

As an R&D platform, WalkON Suit F1 is intended to support research across all levels of the system, from hardware design and low-level actuation to whole-body control and user-centered operation. By providing a single integrated system where these elements can be evaluated together, it enables systematic benchmarking, rapid iteration, and reproducible validation under realistic use conditions. This integrated perspective is essential for translating component-level advances into robust wearable-robot technologies.
  • Function 1

    Self Donning Powered Exoskeleton

    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.
  • Function 2

    Dual-Mode Operation : Humanoid and Powered Exoskeleton

    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.

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