Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
Abstract
Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF per leg, four of which are powered by linear hydraulic actuators. The selection of the DOF, critical hardware design aspects, and initial performance measurements of BLEEX are discussed.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
BLEEX was developed to help soldiers carry heavy loads.
“The Berkeley Lower Extremity Exoskeleton (BLEEX), shown in Figure 3A, was developed to help soldiers to carry heavy loads [20], [36].”
From Recent developments and challenges of lower extremity exoskeletons (2016) · cites this paper as [20]
Cites
On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Kazerooni, H., Racine, J.-L., Huang, L., & Steger, R. (2006) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2005.1570790 · Cited by 595 · see citing works
Self-citationThe RoboKnee: an exoskeleton for enhancing strength and endurance during walking
Pratt, J. E., Krupp, B., Morse, C., & Collins, S. H. (2004) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2004.1307425 · Cited by 571 · see citing works
Woodson, W. E. (1981) · Cited by 465 · see citing works
An Ankle-Foot Orthosis Powered by Artificial Pneumatic Muscles
Ferris, D. P., Czerniecki, J. M., & Blake Hannaford, A. (2005) · Journal of Applied Biomechanics · doi:10.1123/jab.21.2.189 · Cited by 377 · see citing works
Power Assist System HAL-3 for Gait Disorder Person
Kawamoto, H., & Sankai, Y. (2002) · Lecture notes in computer science · doi:10.1007/3-540-45491-8_43 · Cited by 346 · see citing works
On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Chu, A., Kazerooni, H., & Zoss, A. (2006) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570789 · Cited by 258 · see citing works
Self-citationDevelopment of active anthropomorphic exoskeletons
VUKOBRATOVIC, M. K., Hristić, D., & Stojiljković, Z. (1974) · Medical & Biological Engineering & Computing · doi:10.1007/bf02629836 · Cited by 216 · see citing works
Development of power assisting suit for assisting nurse labor
YAMAMOTO, K., HYODO, K., ISHII, M., & MATSUO, T. (2002) · JSME International Journal Series C · doi:10.1299/jsmec.45.703 · Cited by 169 · see citing works
Makinson, B. J. (1971) · doi:10.21236/ad0724797 · Cited by 140 · see citing works
Predicting the intended motion with EMG signals for an exoskeleton orthosis controller
Fleischer, C., Reinicke, C., & Hommel, G. (2005) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2005.1545504 · Cited by 129 · see citing works
Kirtley, C. (2006) · Medical Entomology and Zoology · Cited by 73 · see citing works
Hybrid hydraulic-electric power unit for field and service robots
Amundson, K. R., Raade, J. W., Harding, N., et al. (2005) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2005.1545452 · Cited by 47 · see citing works
Monopropellant-Driven Free Piston Hydraulic Pump for Mobile Robotic Systems
McGee, T. G., Raade, J. W., & Kazerooni, H. (2004) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.1649972 · Cited by 44 · see citing works
Self-citationAnalysis and Design of a Novel Hydraulic Power Source for Mobile Robots
Raade, J. W., & Kazerooni, H. (2005) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2005.850394 · Cited by 34 · see citing works
Self-citationDevelopment of a mobility assist for the paralyzed, amputee, and spastic patient
Johnson, D., Repperger, D. W., & Thompson, G. H. (2002) · Proceedings of the ... Southern Biomedical Engineering Conference · doi:10.1109/sbec.1996.493115 · Cited by 27 · see citing works
High-speed communication network for controls with the application on the exoskeleton
Kim, S., Anwar, G., & Kazerooni, H. (2004) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc.2004.1383630 · Cited by 27 · see citing works
Self-citationDevelopment of straight style transfer equipment for lower limbs disabled
Mori, Y., Takayama, K., & Nakamura, T. (2004) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2004.1307434 · Cited by 22 · see citing works
Lower Limb Human Muscle Enhancer
Misuraca, J. J., & Mavroidis, C. (2001) · Dynamic Systems and Control · doi:10.1115/imece2001/dsc-24620 · Cited by 18 · see citing works
Design of Compact and Lightweight Wearable Power Assist Device
Naruse, K., Kawai, S., Yokoi, H., et al. (2003) · doi:10.1115/imece2003-41340 · Cited by 9 · see citing works
459 Development of Straight Style Transfer Equipment for Lower Limbs Disabled
Nakamura, T., Yoshikazu, M. O. R. I., MURANAKA, S., et al. (2004) · The Proceedings of Yamanashi District Conference · doi:10.1299/jsmeyamanashi.2004.123 · Cited by 3 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Recent developments and challenges of lower extremity exoskeletons
Chen, B., Ma, H., Qin, L.-Y., Gao, F., Chan, K.-M., Law, S.-W., Qin, L., & Liao, W.-H. (2016) · Journal of Orthopaedic Translation · doi:10.1016/j.jot.2015.09.007 · Cited by 501 · see citing works
“The third application of exo-skeletons is aimed at enhancing the physical abilities of able-bodied humans (i.e. human strength augmentation) [20].”
BackgroundEMG and EPP-integrated human-machine interface between the paralyzed and rehabilitation exoskeleton
Yin, Y. H., Fan, Y. J., & Xu, L. D. (2012) · IEEE Transactions on Information Technology in Biomedicine · doi:10.1109/titb.2011.2178034 · Cited by 197 · see citing works
Recognition of walking environments and gait period by surface electromyography
Kyeong, S., Shin, W., Yang, M., Heo, U., Feng, J.-R., & Kim, J. (2019) · Frontiers of Information Technology & Electronic Engineering · doi:10.1631/fitee.1800601 · Cited by 68 · see citing works
Interactive Control of Lower Limb Exoskeleton Robots: A Review
Zhang, Y.-P., Cao, G.-Z., Li, L.-L., & Diao, D.-F. (2024) · IEEE Sensors Journal · doi:10.1109/jsen.2024.3352005 · Cited by 58 · see citing works
Design of an under-actuated exoskeleton system for walking assist while load carrying
Yu, S. N., Lee, H. D., Lee, S. H., Kim, W. S., Han, J. S., & Han, C. S. (2012) · Advanced Robotics · doi:10.1163/156855311x617506 · Cited by 37 · see citing works
- Authors
- Zoss, A. B., Kazerooni, H., & Chu, A.
- Affiliations
- University of California, Berkeley (US)
- ORCID
- Kazerooni, H.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2006-04
- Volume
- 11
- Issue
- 2
- Pages
- 128-138
- ISSN
- 1083-4435 (ISSN-L)
- OpenAlex
- W2102046115
- Cited by
- 1,170
- References
- 20
- Citations by year
- 2026: 20 · 2025: 39 · 2024: 47 · 2023: 65 · 2022: 92 · 2021: 88 · 2020: 88 · 2019: 98 · 2018: 83 · 2017: 96 · 2016: 96 · 2015: 73 · 2014: 68 · 2013: 55 · 2012: 53
- FWCI
- 14.09
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE/ASME Transactions on Mechatronics (publishedVersion)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- lower limb exoskeleton, biomechanical design, humanoid robots, degrees of freedom, hardware design, stair climbing
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
