Exoskeletons are used for force and mobility assistance which increases the various types of abilities of the person wearing it. Fundamentally, exoskeletons are used in carrying heavy weapons, material handling and disaster management. The problems faced by todays active exoskeletons are power consumption due to actuators used to make it active. Also, it has restricted number motions and degrees of freedoms due to rigid actuators. In Robot Study Circle, COEP, we have built a Compressed Air Powered Human Exoskeleton Suit (CAPHES) using which we can lift a weapon or a object weighing upto 35kgs without even feeling it. For that we have developed active upper body exoskeleton (AUBE) and passive lower body exoskeleton(PLBE). AUBE consists of Pneumatic Air Muscle (PAM) Actuators which we have developed in our lab. Due to these soft actuators, the exoskeleton has more number of degrees of freedom than exoskeletons with rigid actuators. PLBE helps in transferring the weight to be carried and the weight of the exoskeleton directly to the ground. Using PLBE exoskeleton can be also used as a chair-less chair.
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机译：外骨骼用于助力和行动辅助，可增加佩戴者的各种能力。从根本上说，外骨骼用于运载重型武器，物资处理和灾难管理。当今活跃的外骨骼所面临的问题是由于用于使其活跃的致动器而导致的功率消耗。而且，由于刚性致动器，其运动次数和自由度受到限制。在COEP的Robot Study Circle中，我们建立了压缩空气动力人体外骨骼服（CAPHES），使用它我们可以举起重达35kg的武器或物体，甚至感觉不到。为此，我们开发了主动上身外骨骼（AUBE）和被动下身外骨骼（PLBE）。 AUBE由我们在实验室开发的气动空气肌肉（PAM）执行器组成。由于这些软致动器，外骨骼比带有刚性致动器的外骨骼具有更多的自由度。 PLBE有助于将要承载的重量和外骨骼的重量直接转移到地面上。使用PLBE外骨骼也可以用作无椅椅子。
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