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 objective: enabling individuals with complete paraplegia to achieve independence in daily life. In this context, “independence” extends beyond supporting a range of lower-limb locomotion tasks and encompasses the entire usage process. This includes the robot autonomously approaching a wheelchair user upon request and enabling the user to don and doff the system independently.

To realize this objective, WalkON Suit F1 was designed to satisfy two core requirements. First, upon a user’s request for assistance, the robot must be capable of autonomously approaching the user and preparing for donning. Second, the user must be able to don and doff the exoskeleton independently and directly from a wheelchair, without burdensome transfers that place excessive strain on the upper limbs and without reliance on caregivers.

Guided by this design philosophy, WalkON Suit F1 incorporates two key capabilities: a powered exoskeleton that supports self-donning, and dual-mode operation as both a wearable robot and a humanoid robot. This dual functionality is referred to as a “wearable humanoid,” as described below.

Beyond serving as a single product prototype, WalkON Suit F1 functions as an advanced research and development platform. It integrates EXO-Lab’s latest component-level technologies—including actuators, motor drivers, sensing systems, and control algorithms—into a unified full-body system. This integration enables newly developed technologies to be validated at the system level and refined through real-world operation.

As an R&D platform, WalkON Suit F1 is designed to support research across all system layers, ranging from hardware design and low-level actuation to whole-body control and user-centered operation. By providing a single integrated system in which these elements can be evaluated collectively, the platform enables systematic benchmarking, rapid iteration, and reproducible validation under realistic usage conditions. This integrated perspective is essential for translating component-level innovations into robust and practical wearable robot technologies.
  • Function 1

    Self Donning Powered Exoskeleton

    The WalkON Suit F1, developed by EXO-Lab, features a distinctive front-enveloping design that differs from conventional powered exoskeletons, which typically envelop the pilot from behind. In existing systems, the donning process generally requires two transfer steps: first from a wheelchair to a chair, and then from the chair to the exoskeleton.
    These transfer procedures impose significant mechanical loads on the pilot’s wrists, thereby increasing the risk of wrist injury. To mitigate 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 approaching and enveloping the pilot from the front, the system eliminates the need for multiple transfers during the donning process.
    Prior to donning the WalkON Suit F1, the pilot wears a foot–shank wearing part designed in the form of boots, as well as an upper-body wearing part. Each wearing component is equipped with a docking unit that enables secure and precise connection with the WalkON Suit F1 during the autonomous donning process.
  • 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 requiring caregiver assistance. In this context, the WalkON Suit F1 fulfills a dual role: it functions both 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 enables seamless transitions between operating modes. When worn, the system operates as a wearable exoskeleton, whereas during autonomous navigation it functions as a mobile humanoid robot. To ensure stable and reliable operation in both configurations, the system was designed from the outset with careful consideration of actuator torque capacity, overall center of mass placement, and the pilot’s reachable workspace.

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