Berkeley Human Exoskeleton Technology

Abstract

In October 2003, the first functional load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) was demonstrated, walking at the average speed of two miles per hour while carrying 75 pounds of load. The project, funded in 2000, tackled four fundamental technologies: the exoskeleton architectural design, a control algorithm, a body LAN to host the control algorithm, and an on-board power unit to power the actuators, sensors and the computers. The primary objective of this project at U.C. Berkeley is to develop the fundamental technologies associated with design and control of energetically autonomous Lower Extremity Exoskeletons that augment human strength and endurance during locomotion. BLEEX is comprised of two powered anthropomorphic legs, a power unit, and a backpack-like frame on which a variety of heavy loads can be mounted. This system provides its pilot (i.e., its wearer) the ability to carry significant loads on his/her back with minimal effort over any type of terrain. BLEEX allows the pilot to comfortably squat, bend, swing from side to side, twist, and walk on ascending and descending slopes, while also offering the ability to step over and under obstructions while carrying equipment and supplies. Because the pilot can carry significant loads for extended periods of time without reducing his/her agility, physical effectiveness increases significantly with the aid of this class of lower extremity exoskeletons.