Journal Papers
"The History and Future of the WalkON Suit: A Powered Exoskeleton for People With Disabilities"
Year of publication
J. Choi, K. Park, J. Park, D. Lee, E. Song, B. Na, S. Jeon, T. Kim, H. Choi, H. Woo, J. Lee, B. Kim, D. Rha, and K. Kong
IEEE Industrial Electronics Magazine


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

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