• BLEEX

• Sarcos
• HULC
• MIT exoskeletons
 BLEEX

Ghan, Justin, Ryan Steger, and Hami Kazerooni. "Control and system identification for the
Berkeley lower extremity exoskeleton (BLEEX)." Advanced Robotics 20.9 (2006): 989-
 BLEEX

Ghan, Justin, Ryan Steger, and Hami Kazerooni. "Control and system identification for the
Berkeley lower extremity exoskeleton (BLEEX)." Advanced Robotics 20.9 (2006): 989-
 Sarcos
• Weight: 210lb(95.25kg)
• Load: 200lb(91kg)
• Lift heavy objects at a
ratio of 17:1

https://www.sarcos.com/products/guardian-xo-powered-exoskeleton
https://www.army-technology.com/projects/raytheon-xos-2-exoskeleton-us/
 HULC
• Weight: 53lb(24kg)
• Load: 200lb(91kg)
• Decrease metabolic
cost(2MPH ， 3.22km/hr):
– decreased by 5%~12%
without a payload
– decreased by about 15%
with 81lb(36.74kg) load

https://bleex.me.berkeley.edu/research/exoskeleton/hulc/
https://www.army-technology.com/projects/human-universal-load-carrier-hulc
 MIT exoskeletons

Walsh, Conor James, Kenneth Pasch, and Hugh Herr. "An autonomous, underactuated
exoskeleton for load-carrying augmentation." 2006 IEEE/RSJ International Conference on
Intelligent Robots and Systems. IEEE, 2006.
 MIT exoskeletons

Walsh, Conor James, Kenneth Pasch, and Hugh Herr. "An autonomous, underactuated
exoskeleton for load-carrying augmentation." 2006 IEEE/RSJ International Conference on
Intelligent Robots and Systems. IEEE, 2006.
 Comparison
accuracy of model parameters
linear hydraulic encoders
BLEEX actuators linear accelerometers → accuracy of system ID model
→ accuracy of whole system

linear/rotary energetically autonomous

Sarcos feet NOT allowed to bend
hydraulic actuators
lift heavy objects at a ratio of 17:1

NOT perform certain movements

linear hydraulic
HULC actuators increase strain on muscles
decrease metabolic cost

MIT quasi-passive strain gauges Hip – actuator/spring

exoskeletons mechanism potentiometers Knee – damper
Ankle – spring

Rupal, Baltej Singh, et al. "Lower-limb exoskeletons: Research trends and regulatory guidelines in
medical and non-medical applications." International Journal of Advanced Robotic Systems 14.6
(2017): 1729881417743554.
 Comparison
anthropomorphic – quasi
energetically autonomous actuation – active
BLEEX
minimize the use of sensory information mass/inertia similar to human body
connection at torso and feet

anthropomorphic – yes
actuation – quasi-passive
MIT 10% increase of metabolic cost in walking minimized weight
controlled simply by using sensory
exoskeletons lots of interface –
information
shoulder straps, waist belt, thigh
cuff, and shoe connection

Dollar, Aaron M., and Hugh Herr. "Lower extremity exoskeletons and active orthoses: Challenges
and state-of-the-art." IEEE Transactions on robotics 24.1 (2008): 144-158.
Cenciarini, Massimo, and Aaron M. Dollar. "Biomechanical considerations in the design of lower
limb exoskeletons." 2011 IEEE International Conference on Rehabilitation Robotics. IEEE, 2011.
ExoModel
 Admittance control

𝜔𝑚 𝑇𝑑
- 𝜔𝑐 𝑇𝑚 - 𝜔𝑚
+
𝐾𝑝 ExoRobot
+

𝜔𝑑 ^ +
𝐾𝑎 𝑇 𝑑 - 𝑇 𝑡𝑜𝑡𝑎𝑙 Torque observer
𝑎𝑠 +1
admittance
controller
 Hip Knee
Sin wave 10Nm Sin wave 5Nm

rad rad

Torque Torque
Demo