Exoway: an exoskeleton on actuated wheels

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.