AXO-SUIT - A Modular Full-Body Exoskeleton for Physical Assistance
This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close end-user involvement are outlined and used in realising the exoskeleton. Design of the resulting mechanics and electronics details for the lower- and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. The FB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.
KeywordsRobotic exoskeletons Physical assistance for the elderly Spherical shoulder mechanism User-centered design
The work reported here is supported by the EU AAL Programme, Innovation Fund Denmark, Vinnova, Agentschap Innoveren & Ondernemen and Enterprise Ireland. MTD Precision Engineering, Cork, Ireland, are duely acknowledged for their contribution to design and prototype construction of the AXO-SUIT.
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