A Lower-body Exoskeleton Platform with Remote Actuation *

Exoskeletons are being designed to rehabilitate the disabled population all over the world. The performance of these devices depends upon the design and placement of various components. Experimentation with human subjects is a key part to understand the effect of these design choices. This article presents the design of a lower-body exoskeleton platform that can be quickly modified for human-in-loop experimentation. The platform has a decoupled remote actuation and a lightweight body interface. Low-level system and control architectures are also presented.