LEXA (Leg Exoskeleton for Assistance)

LEXA is an exoskeleton robot designed for patients with incomplete paraplegia.

12 degrees of freedom (DoF), 4 active and 8 passive
Range of 0-100% of the required movement forces
17 Kg in the last version
Portable with controllers, batteries, drivers, and sensor boards in the design electronics box

Specs

Design Evolution

LEXA Alpha

LEXA Beta

LEXA Gamma

Weight:
Hip Torque:
Knee Torque:
Portable:

37 kg
15.5 N.m
9.3 N.m
No

Weight:
Hip Torque:
Knee Torque:
Portable:

Weight:
Hip Torque:
Knee Torque:
Portable:

25 kg
31 N.m
15.5 N.m
No

22 kg
38.5 N.m
33 N.m
Yes

FEA for Design Optimization

I optimized the structure based on the expected loading to reduce the weight as much as possible, while ensuring integrity and longevity.