Development of a Lower Limb Exoskeleton Worn on the Front of a Human

  • Jung-Yup Kim
  • Baek-Kyu ChoEmail author


This paper introduces a new concept of a lower limb exoskeleton, KUEX, and its control framework. KUEX is a fully actuated system and is developed for a wearer’s walking assistance and sit-to-stand/stand-to-sit assistance. Because of full actuation, it is able to balance by itself and assist the wearer’s weight directly. Also, it is worn on the wearer’s front side. As the reason, it is easy to wear the robot and is able to reduce wearing time. The control framework for KUEX is composed with a walking pattern generator and various controllers to operate the robot based on the finite state machine. The hardware and the control framework of KUEX were verified through the various experiments.


Exoskeleton KUEX Walking assistance Sit-to-stand/stand-to-sin assistance 


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This material is based upon work supported by the Ministry of Trade, Industry & Energy(MOTIE, Korea) under Industrial Technology Innovation Program. No.10067184, ‘Development of Disaster Response Robot System for Lifesaving and Supporting Fire Fighters at Complex Disaster Environment’


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© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.Department of Mechanical System Design EngineeringSeoul National University of Science & TechnologySeoulRepublic of Korea
  2. 2.School of Mechanical EngineeringKookmin UniversitySeoulRepublic of Korea

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