Stronger, Smarter, Softer Next-Generation Wearable Robots

Humans have long dreamed of and created ways to improve our strength, speed, and endurance through wearable assistive devices. Science fiction authors have inspired our imaginations with remarkable exoskeleton devices like those worn in Robert Heinlein's Starship Troopers and that worn by Marvel Comics' Iron Man, and many researchers have spent countless hours and resources toward making these machines a reality. One particular area of interest is that of devices to assist the lower body for tasks such as walking, running, and supporting heavy loads. The vast majority of these are rigid exoskeletons, with links in parallel with the body that can impart torques to the joints, support compressive forces, and, in many cases, transmit loads to the ground. © 1994-2011 IEEE.