OpenExo: An open-source modular exoskeleton to augment human function.

Area of Science:

• Robotics
• Biomechatronics
• Human-Computer Interaction

Background:

• Wearable robotic exoskeletons face significant barriers to entry, including lengthy development cycles, high costs, and required expertise.
• Existing systems are often single-utility and lab-bound, limiting research flexibility and exploration of new domains.

Purpose of the Study:

• To present OpenExo, an open-source, modular, and untethered exoskeleton framework.
• To reduce barriers in wearable robotics research by providing open access to all design aspects.
• To demonstrate the framework's versatility through multiple experimental configurations.

Main Methods:

• Developed OpenExo, an open-source framework encompassing software, electronics, hardware, and control schemes.
• Performed benchtop and experimental validation across various configurations: hip-only incline assistance, ankle-only indoor/outdoor assistance, hip-and-ankle load carriage, and elbow-only weightlifting.
• Made all design aspects freely available for modification and use by the research community.

Main Results:

• Successfully validated the OpenExo framework across multiple assistive tasks and configurations.
• Demonstrated the framework's adaptability for diverse research questions in wearable robotics.
• Confirmed the accessibility and modifiability of all software, hardware, and control components.

Conclusions:

• OpenExo effectively lowers entry barriers in wearable robotics research.
• The open-source, modular framework accelerates the development and testing of novel exoskeleton designs and control strategies.
• Encourages broader participation and exploration of new research questions in the field of wearable exoskeletons.