Exoway: an exoskeleton on actuated wheels

TL;DR

Exoway is a low-cost exoskeleton with actuated wheels enabling walking and skating motions, stabilized by active control, and controlled via a dedicated hardware interface, aiming to simplify locomotion assistance.

Contribution

This work introduces a novel, low-cost exoskeleton with actuated wheels and active stabilization, reducing motor use for improved maneuverability.

Findings

Successful implementation of skating-like steps

Effective stabilization through active control

Low-cost design with minimal motor use

Abstract

In this short work we present a low cost exoskeleton with actuated wheels that allows movements as well as skating-like steps. The simple structure and the actuated wheels allows to minimize the use of motors for locomotion. The structure is stabilized by an active control system that balances the structure and permit to be maneuvered by the driver whose commands are acquired by a dedicated hardware interface.