General

• type: lower extremity;
• total weight: 75 kg (exoskeleton and payload);
• degrees of freedom: 14 (7 on each leg);

Modules

• legs:
• hip:
  • actuators: hydraulic cylinder for flexion/extension and abduction/adduction only;
  • sensors: two accelerometers on the extreme mounting points. One force sensor in the output mounting point of the hydraulic cylinder;
  • degrees of freedom: 3 (only abduction/adduction and flexion/extension axes pass through the human hip joint);
• knee:
  • actuators: hydraulic cylinder for flexion/extension;
  • sensors: One force sensor in the output mounting point of the hydraulic cylinder;
  • degrees of freedom: 1
• ankle:
  • actuators: hydraulic cylinder for flexion/extension;
  • sensors: two accelerometers on the extreme mounting points. One force sensor in the output mounting point of the hydraulic cylinder;
  • degrees of freedom: 3 (only flexion/extension axes pass through the human hip joint);
• foot:
  • actuators: none, passive join only;
  • sensors: load distribution sensor, measure the amount of human weight on each leg. Also has two accelerometers on each foot;
  • degrees of freedom: 1
• torso:
• power source:
  • output power: 2.27 kW;

References

[1] Adam Zoss, H. Kazerooni, Andrew Chu - On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX), 2005. Link.