Design and Kinematic Analysis of the Hanyang Exoskeleton Assistive Robot (HEXAR) for Human Synchronized Motion

  • Wansoo Kim
  • Hojun Kim
  • Donghwan Lim
  • Hyungi Moon
  • Changsoo Han
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 16)


The Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50, which performs human synchronized gait motions to augment human power during load carrying, was designed and analyzed in this study. The HEXAR-CR50 was developed for industrial and military purposes to carry a payload of 20–30 kg while walking on level ground and climbing stairs. For the design of the exoskeleton robot with considered the joint functions and motion, we conducted a gait analysis that was based on biomechanics. The parameters for the design were based on the results of the gait analysis. The designed exoskeleton consisted of one leg with seven degrees of freedom (DOF). The simulations were conducted to verify the kinematic synchronized motion using LifeMOD\(^\mathrm{TM}\).



This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government(MSIP) (No.NRF-2015R1A2A2A01002887)


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Wansoo Kim
    • 1
  • Hojun Kim
    • 2
  • Donghwan Lim
    • 2
  • Hyungi Moon
    • 2
  • Changsoo Han
    • 3
  1. 1.Human-Robot Interfaces and Physical Interaction (HRI2)Istituto Italiano di Tecnologia (IIT)GenoaItaly
  2. 2.Mechanical EngineeringHanyang UniversitySeoulSouth Korea
  3. 3.Department of Robot EngineeringHanyang University ERICAAnsanSouth Korea

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