The History and Future of the WalkON Suit: A Powered Exoskeleton for People With Disabilities
Jungsu Choi, Kyeong-Won Park, Jeongsu Park, Dae-Ho Lee, Eunseok Song, Byeonghun Na, Sun Young Jeon, Tae Il Kim, Hyun‐Jin Choi, Hanseung Woo, Joohyun Lee, Byeonguk Kim, Dong‐wook Rha, Kyoungchul Kong
Abstract
In this article, the mechanical design concept, control strategy, and gait-trajectory-generation method are introduced for a powered exoskeleton, called the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">WalkON Suit</i> , which won the gold and bronze medals at Cybathlon 2020. The WalkON Suit was developed based on several distinct technologies, such as high-power actuation modules, robotic legs with parallel-elastic-actuation modules, gait-pattern generation, and the iterative-learning algorithm of human behavior, which made it powerful and unique.