The hardware domain adopts a distributed control architecture in which system functions are allocated across multiple specialized modules. Each module serves a clearly defined role within the overall robotic system.

Sim-to-real Actuator Modules (SAM)
Mechanical actuation units equipped with backdrivable and low-impedance joint mechanisms. These modules generate the physical interaction forces required for assistance and are designed to provide high responsiveness and transparency.

Motor Drivers (MD)

Embedded motor control units responsible for real-time current control, sensor data acquisition, and hardware-level protection. MDs form the lowest layer of the control hierarchy and ensure stable torque generation with deterministic timing.

Control Modules (CM)

Mid-level controllers that execute validated control algorithms, manage distributed system coordination, synchronize modules, and supervise safety-critical behaviors. CMs maintain the core operational logic of the wearable robot.

Application Modules (AM)

High-level coordination units that implement task-specific robot functions. AMs interpret system states, manage multi-joint behaviors, and configure robot operation according to the intended application scenario.

Extension Modules (XM)

Flexible development modules that support rapid prototyping, sensor integration, external device interfacing, and algorithm testing. XMs enable researchers to deploy and evaluate new control strategies without modifying safety-critical components.

Apparel Modules

Human-interfacing components, including waist interfaces, back-support frames, and other adjustable structures. These modules are designed with modular fitting mechanisms to accommodate diverse body types while ensuring stable and comfortable attachment.

The software domain provides a standardized control framework and a data-centric computing environment that supports real-time operation and AI-enhanced analysis.

Unified Control and Communication Structure

A standardized FSM-based control architecture defines operational states, transition logic, and reference generation across system modules. A CAN-based communication protocol enables high-speed and robust data exchange within the distributed architecture. Integrated real-time monitoring tools provide visibility into system variables, supporting debugging, parameter tuning, and clinical evaluation.

Data and AI Infrastructure

A unified data pipeline supports large-scale data logging, structured dataset management, cloud connectivity, and AI-based model training. This infrastructure enables data-driven personalization, performance optimization, and long-term analysis of human–robot interaction.

Platform Vision

By combining a distributed hardware architecture with a unified software ecosystem, the Wearable Robot Platform enables rapid development, cross-system compatibility, and data-driven optimization. The platform supports research in assistive, rehabilitative, and industrial wearable robotics while providing a scalable foundation for future expansion.