Hexapod based Assistive Walking Device


The WeArable Lower Limb Anthropomorphic Exoskeleton or WALLAE is a new type of Assistive Walking Device (patent pending) being developed by SOC Robotics and researchers at Simon Fraser University.   WALLAE uses a mix of Stuart Platform hexapods, spring dampers and rotary actuators for it's joints providing a range of motion that closely duplicates human motion.   WALLAE consists of 4 hexapods, 4 spring dampers and 2 rotary actuators for a total of 28 linear actuators.  Watch technology based on  WALLAE in action.

Spring dampers introduce a new level of compliance into an otherwise rigid structure providing a more natural gait and wearing experience.  Hexapods, being light and strong with a broad range of motion, allow the structure to be as compact as possible while still retaining strength and agility.  The hexapod's ability to change its length while still executing roll, pitch and yaw motions reduces chaffing by automatically accommodating to changes in the wearer's physical topology.  A comprehensive set of Inertial Measurement Units (IMUs) monitor the position of all actuators in real time allowing the gait controller to correct gait execution when transitioning from level walk to running to stair climbing.  Operator intent is monitored using a mix of inertial, pressure and surface electromyograph (sEMG) sensors.  

Bluetooth integration allows complete monitoring and/or control of vital WALLAE systems on an iPhone or Android device.  WALLAE is  designed to operate without the support of a cane or crutches.  At least that's our goal.

WALLAE is being developed as part of an Assistive Walking Technology project supported in part by funding from an NSERC CRD grant.

For more information email wallae @ soc-robotics.com.


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