Artificial Life and Robotics

, Volume 7, Issue 3, pp 95–101 | Cite as

Development of the basic structure for an exoskeleton cyborg system

  • T. Onishi
  • T. Arai
  • K. Inoue
  • Y. Mae
Original Article


The internal human skeleton is referred to as an endoskeleton, while the cuticles of lobsters and crabs are referred to as exoskeletons. Much research has been conducted in attempts to combine endoskeletons and exoskeletons. However, there are very few instances of research being undertaken to create a cyborg. The human endoskeleton consists of kinematic pairs that are joined together with a maximum of three degrees of kinematic freedom. These are a turning pair on a lateral-bending axis, a turning pair on a longitudinal-bending axis, and a turning pair on the central axis of a skeleton. If the strength of the muscles on a human skeleton decline, or if component parts of a human skeleton are lost, then a module-type exoskeleton designed with a maximum of three degrees of kinematic freedom would be able to contain an entire body so that it could assist the functions of the arms, hands, legs, and other body parts to complement the declining or lost physical functions (kinematic or biological). Based on this concept, it is possible to develop an exoskeleton cyborg system that behaves in much the same way that a human does in daily life.

Key words

Body-supporting unit Module-type exoskeleton Hoist unit Data input-output unit 


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Copyright information

© ISAROB 2003

Authors and Affiliations

  1. 1.Tsuyama National College of TechnologyOkayamaJapan
  2. 2.Osaka UniversityOsakaJapan

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