Next Generation of Intelligent Anthropomorphic Exoskeleton Systems

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An exoskeleton is a wearable robotic system consists of an external structural mechanism with joints and links which are synchronized with biological joint motions to enhance or support body movements. Trends in the lower limb exoskeletons include devices that either support a very limited number of the degree-of-freedom (DoFs) or cover more DoFs with their bulky structures. The first group of exoskeleton fail to cover a sufficient range of motion (RoM) for human-like locomotion and balance control while their bulky counterparts are not practical for most applications. To address the shortcoming, at SFU, we pioneered the design of a new generation of compact exoskeleton systems that can cover full RoM. We achieved that by combining 3D parallel robotic joints with a compact motion transfer mechanism. While this exoskeleton offers improved mobility and power assistance/augmentation, there are still major technological challenges that must be overcome for widespread applications of powered wearable robotic systems in other areas. ***In this Discovery Grant (DG) we propose a world-class research program for developing human-centred exoskeleton systems that in addition to covering full RoM, are designed to naturally fit with human body morphology and are compact, light, stylish, and safe. Such versatile and articulated exoskeletons will be fully loaded with advanced features that bring intelligence, autonomy, stability, and intuitiveness. In summary, we propose to (i) develop optimize exoskeleton design platforms for enhancing efficiency and usability, (ii) develop online motion generation algorithms for human-like locomotion, (iii) develop surround navigations for enhancing cognitive ability of users, (iv) develop intuitive and intelligent user interfaces for natural user intention identification and gait commanding, (v) develop a library of joint trajectories for stable human-like locomotion. The outcome of this DG will build a foundation for a long-term goal of our superhuman project in which full body wearable robotics become a part of our daily lives for not only augmenting/asserting physical power but also enhancing cognitive abilities.***In addition to highly talented HQP that are currently making groundbreaking research and development accomplishments, and those who will join this dynamic team, we benefit from close collaborations with interdisciplinary, world-class research partners, institutions, and centers. Our research partners at SFU compliment us in areas such as power electronics, batteries, and sensor instrumentation, while our collaborators at UBC and BCIT are more involved in the human-related aspects of the research, e.g. orthotics design and human testing. The proposed research program is also in line with SFU strategic plan in wearable devices and technologies which has been recently materialized in a $3.5M CFI grant for building the required infrastructure in its Surry campus, where my research laboratory is located. **