1. Device Dimensions : 700 × 300 × 1500 mm (Length × Width × Height).
2. Weight : Self-weight < 18 kg, including a power battery with a minimum endurance of 2 hours.
3. Power Source : Electric assist drive.
4. Height Compatibility : 160–185 cm (supports height adjustment).
5. Temperature Range : -20°C to 50°C.
6. Battery Endurance : Removable/replaceable lithium battery pack; single battery provides 2–4 hours of operation.
7. Battery Specifications : Lithium battery, rated voltage 36V, capacity ≥ 2500 mAh. Continuous operation: ≥2 hours
under load, ≥4 hours unloaded.
8. Battery Replacement : Wearers can replace the battery within 6 seconds without tools or removing the exoskeleton.
9. Degrees of Freedom (DOF :
- ≥12 total DOF, including 4 active DOF (motor-driven) with dual encoder feedback (relative and absolute encoders).
- Each active joint features independent absolute encoding precision ≥19 bits and ≥8 passive DOF.
- Motor-driven joints correspond to human shoulder, hip, and knee joints.
10. Materials : Engineering plastic, aviation aluminum alloy, carbon fiber, titanium alloy.
11. Plantar Pressure Sensing :
- 32-channel dual-sole pressure data support, rated load 0–100 kg.
- Comprehensive accuracy: 0.1% (linearity, hysteresis, repeatability); sensitivity: 1.0–2.0 mV/V.
- Software Interface**: The Data interface of the host computer displays real-time robot data. 16 white blocks on the
bottom left/right represent left/right foot pressure sensors, with color changes indicating pressure levels:
- Blue: 0N < pressure < 100N
- Yellow: 100N ≤ pressure < 200N
- Red: pressure ≥ 200N
12. Drive Unit : Integrated low-voltage torque servo motor system with gearbox, each motor power ≥150W.
13. Joint Motion Ranges :
- Hip (sagittal plane) : -30° (rear swing) to 165° (front swing), continuously adjustable.
- Knee : -135° (flexion) to 0°, continuously adjustable.
- Ankle : -90° (dorsiflexion) to 75° (plantarflexion).
14. Shoulder Motion :
- Sagittal plane (at 0° neutral) : Upward lift ≥140°, rear swing ≥30°.
- Frontal plane : Horizontal abduction/adduction range ≥150°.
15. Shoulder Position Sensing : Independent absolute physical position sensors (no battery-based position memory) for
left/right shoulders, providing real-time feedback for lift/lower movements. Support force angles/positions can be adjust
ed on-site by the supplier as needed.
16. SDK & Interfaces :
- Open SDK for independent motor control and sensor data collection.
- Reserved interfaces: EMG, EEG, Ethernet, CAN-open bus, C# driver.
- Supports real-time control/data collection via API in programming software.
17. Supported Languages : C, C++, C#, Java, MATLAB (m).
18. Development Environments : Unity, Visual Studio, MATLAB.
19. Functional Features :
- Motion position control, torque control, PVT continuous curve operation.
- Data reading from joint and force sensors; motor status feedback.
20. Built-in Software Demo Modes : Standing, simulated gait walking, force-following gait, upper limb assist, balance
training gait, and impedance mode.
21. WIFI Module : Wireless communication with tablets/phones via debugging software to adjust gait curves/parameters
and read data (joint position, motor torque/speed/acceleration), generating reports.
22. Battery Detection : Real-time monitoring of battery level, voltage, and short-circuit status to prevent unexpected
power outages and ensure safety.
23. Adjustability :
- Thigh Length : ≥80mm adjustment range (hip joint center to knee joint center).
- Calf Length : ≥120mm adjustment range (knee joint center to ankle joint center).
- Sizes can be customized to the user’s body type.
24. Adjustment Precision : All adjustable parts include scale measurements and clear ranges for height/limb length
adjustments.
25. Joint Limit Protection : All joints are equipped with mechanical limit protection mechanisms.
