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ONTHEMECHANICALDESIGNOFTHEBERKELEYLOWEREXTREMITYEXOSKELETONBLEEXADAMZOSS,HKAZEROONI,ANDREWCHUDEPARTMENTOFMECHANICALENGINEERINGUNIVERSITYOFCALIFORNIA,BERKELEY,CA,94720,USAEXOBERKELEYEDU,HTTP//BLEEXMEBERKELEYEDUABSTRACTTHEFIRSTENERGETICALLYAUTONOMOUSLOWEREXTREMITYEXOSKELETONCAPABLEOFCARRYINGAPAYLOADHASBEENDEMONSTRATEDATUCBERKELEYTHISPAPERSUMMARIZESTHEMECHANICALDESIGNOFTHEBERKELEYLOWEREXTREMITYEXOSKELETONBLEEXTHEANTHROPOMORPHICALLYBASEDBLEEXHASSEVENDEGREESOFFREEDOMPERLEG,FOUROFWHICHAREPOWEREDBYLINEARHYDRAULICACTUATORSTHESELECTIONOFTHEDEGREESOFFREEDOMANDTHEIRRANGESOFMOTIONAREDESCRIBEDADDITIONALLY,THESIGNIFICANTDESIGNASPECTSOFTHEMAJORBLEEXCOMPONENTSARECOVEREDINDEXTERMS–BLEEX,EXOSKELETON,WEARABLEROBOTICS,MECHANICALDESIGN,LEGGEDLOCOMOTIONIINTRODUCTIONHEAVYOBJECTSARETYPICALLYTRANSPORTEDUSINGWHEELEDVEHICLESHOWEVER,MANYENVIRONMENTS,SUCHASROCKYTERRAINSANDSTAIRCASES,POSESIGNIFICANTCHALLENGESTOWHEELEDVEHICLESTHUSLEGGEDLOCOMOTIONBECOMESANATTRACTIVEMETHODOFTRANSPORTATIONWITHINTHESESETTINGS,SINCELEGSC
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