Chapter I

Robotic exoskeletons, first seen in science-fiction movies are now appearing in real life. Like in Edge
of Tomorrow Movie, Or Many Robotics movies, this amazing wearable technology is already being
used in industry and medicine. The exoskeleton industry is predicted to be the “next big thing”.

I. Introduction
Exoskeletons are wearable machines that enhance the abilities of
the people who use them. Just like in the movies, exoskeletons can
make their users stronger. They can provide support and reduce
fatigue. Figure 1
An exoskeleton and the person wearing it work together. It is truly
a meeting of human and machine, with enormous benefits for the
human. They even enable people in wheelchairs to stand up and
walk again. Exo-skeleton was tested by the military and Figure 1. Exoskeleton in Spiders
Exoskeleton technologies can bring new capabilities to fighting forces and improve endurance and
safety in industrial settings. Figure 2
The meaning of the word exoskeleton is the external skeleton that supports and protects an animal's
body, in contrast to the internal skeleton (endoskeleton) of, for example, a human. In usage, some of
the larger kinds of exoskeletons are known as "shells". Examples of animals with exoskeletons include
insects such as grasshoppers and cockroaches, and crustaceans such as crabs and lobsters, as well as
the shells of certain sponges and the various groups of shelled mollusks, including those of snails,
clams, tusk shells, chitons and nautilus. The role of this exoskeleton in the animals that it contains
rigid and resistant components that fulfill a set of functional roles in many animals including
protection, excretion, sensing, support, feeding and acting as a barrier against desiccation in
terrestrial organisms. Exoskeletons have a role in defense from pests and predators, support and in
providing an attachment framework for musculature.
Exoskeletons are essentially wearable robots. They attach to the outside of your body like a skin and
provide extra power to the normal movement of your muscles. They range from suits which simply
support to your muscles a little for example: Rehabilitation, strengthen muscles for lifting
heavy objects without stress, etc. Figure 3

Figure 3. Exoskeleton can help people Carry more weigths than they Figure 2. Exoskeleton enable people in wheelchairs to stand
can carry. up and walk again
II. Components
Robotic exoskeletons consist of the same
components as any ‘normal’ articulated
robot. A rigid frame, joints and actuators
enable movements. Sensors, electronics,
computers and software are used to control
the device. In addition, mechanical
interfaces connect exoskeleton and user to
transfer support. Additional sensor systems
can be integrated to improve robot-user
interaction by, for example, measuring bio
signals from the user, which allows the
exoskeleton to better anticipate the user’s
intentions and react accordingly. In the
other direction, feedback systems such as
sounds, blinking light or vibrations (similar
to a mobile phone) can be used to inform the
user about upcoming exoskeleton actions to Figure 4. Exoskeleton components
improve usability. Figure 4

III. History
The earliest mention of a device resembling
an exoskeleton was Yagn’s running aid
patented in 1890. It was a simple bow/leaf
–spring operating parallel to the legs and
was intended to augment running and
jumping. The exoskeleton HARDIMAN
developed by the US Department and
General Electric in 1965, it was an
enormous hydraulically powered machine
(680 kg, 30 DOFs), that included
components for amplifying the strength of
the arms (including hands but without
wrists) and legs of the wearer. It proposed to
amplify the human strength drastically
(25:1). Figure 5
In the late 1960s and 1970s, an active
anthropomorphic exoskeleton with Figure 5. History Of Yagn's Exoskeleton
pneumatic power and partly kinematical
program for paraplegics was developed at the Mihailo Pupin Institute under the Prof. Vukobratovic’s
guidance. More than 100 clinical trials were performed with this device, and a number of patients
with varying degrees of paralysis mastered walking using the complete exoskeleton with support from
crutches.
In the middle 1980s, the exoskeleton concept “Pitman” was put forward by Jeffrey Moore to apply
in military to augment the soldiers’ capabilities. Pitman is capable of carrying 300 Lbs. of equipment.
In 1992, Prof. Yoshiyuki Sankai of University of Tsukuba started to develop a wearable type robot
‘Robot Suit HAL’ (Hybrid Assistive Limb), which was intended to
physically support a wearer’s daily activities and heavy work.
In 2004 one representative of exoskeletons applied in military,
Berkeley Lower Extremity Exoskeleton (BLEEX) was developed to
increase soldier’s load capacity, lessen the risk of leg and back injury,
decrease the metabolic consumption and reduce the perceived level of
difficulty, the Berkeley exoskeleton was able to carry a load 751b at a
walking speed of 1.3m/s. Figure 6
In 2006 a gravity balancing lower extremity exoskeleton was
designed, it is a simple mechanical device composed of rigid links,
Figure 6. BLEEX in 2004
joints and springs, which is adjustable to the geometry and the inertia
of the leg of a human subject wearing it. Figure 7

Figure 7. Simple Mechanical device composed of rigid links, joins and springs

In 2009 Shadow Robot Company make the Shadow Dexterous Hand is an advanced robot hand
system that reproduces all the movements of the human hand and provides comparable force output
and sensitivity. This means it can pick up or handle small to medium sized objects and perform
precision tasks.
In 2013 a Walking Assistance Lower Limb Exoskeleton for Paraplegic
Patients that can measure the center of pressure was present this
exoskeleton is made to assist paraplegic patients who cannot move
their legs, the exoskeleton helps the motion generation of the lower
limbs of the wearer. In order to minimize discomfort for the wearer,
the lower limb exoskeleton is designed with 3 degrees of freedom
3(DOF) of the hip joint, 1DOF of the knee joint and 3DOF of the
ankle joint, making 7 DOF in a leg. Figure 8

Figure 8. Walking Assistance Lower

Limb Exoskeleton