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Portable Knee Exoskeleton

Total weight: 2.5 kg (unilateral), 3.9 kg (bilateral)
Transmission: 6:1 gear, bi-directional actuation
Torque output: 20 Nm torque, >26 rad/s speed
Control platform: Arduino Teensy 3.6

Tethered Simulink Exoskeleton

Wearable structure weight: 1 kg
Transmission: 24:1 gear, bi-directional actuation
Torque output: >50 Nm torque, >6.5 rad/s speed
Control platform: MATLAB Simulink Realtime

Portable Hip Exoskeleton

Peak Torque: 45Nm
Weight: 3.4Kg
Bidirectional Actuation: flexion and extension

Back Exoskeleton

Peak Torque: 45Nm
Weight: 3.4Kg
Bidirectional Actuation: flexion and extension

Shoulder Exoskeleton

Weight: 1.2 Kg Shoulder Torque: 12Nm
Shoulder Motion: -30-170°
Elbow Torque: 2 Nm
Elbow Motion: 30-180°
Wrist Torque: 0.33 Nm
Wrist Motion: -80-80°