Abstract

In this article, the mechanical design concept, control strategy, and gait-trajectory-generation method are introduced for a powered exoskeleton, called the WalkON Suit, which won the gold and bronze medals at Cybathlon 2020. The WalkON Suit was developed based on several distinct technologies, such as high-power actuation modules, robotic legs with parallel-elastic-actuation modules, gait-patter generation, and the iterative-learning algorithm of human behavior, which mad it powerful and unique.