IEEE Robotics & Automation Magazine - December 2017 - 86

Table 5. A comparison of the top three teams
in the powered exoskeleton race at Cybathlon
2016.
Specification

ReWalk

Mina Ver.2 WalkON Suit

Weight (kg)

30

34

27

Degrees of
freedom (active)

4

6

4

Gait speed (km/h) 2.6

1.0

1.1

Task Preparation

Mina Ver.2 WalkON Suit

ReWalk

Sofa

Prepared

Prepared

Prepared

Slalom

Prepared

Prepared

Prepared

Ramp and door

Prepared

Prepared

Prepared

Stones

Dismissed Prepared

Prepared

Tilted path

Prepared

Dismissed

Dismissed

Stairs

Prepared

Prepared

Prepared

dynamic motions such that the walking speed can be
significantly improved.
After the Cybathlon
The Cybathlon ended, but it remains a strong presence with
the pilot and Team SG Mechatronics. First of all, a powered
exoskeleton, the WalkON Suit, could be intensively developed
in the short term. All of the team members, including the
pilot, are strongly committed and very determined to develop
powered exoskeletons for more people with complete paraplegia. The Cybathlon left us with unforgettable memories
and strong motivation for future work.
Acknowledgments
This work was supported by a National Research Foundation of Korea grant funded in part by the Korean government (NRF-2015R1A1A1A05001448) and by a grant
(NRCTR-EX17006) of the Translational Research Center for
Rehabilitation Robots, Korea National Rehabilitation Center, Ministry of Health and Welfare, Korea. We thank
Byeongwook Kim for his contribution and desire to overcome his difficulty.
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Jungsu Choi, Department of Mechanical Engineering, Sogang
University, Seoul, South Korea. E-mail: nbh87@sogang.ac.kr.
Byeonghun Na, Department of Mechanical Engineering,
Sogang University, Seoul, South Korea. E-mail: zz1zzy@
sogang.ac.kr.
Pyeong-Gook Jung, Department of Mechanical Engineering,
Sogang University, Seoul, South Korea. E-mail: pgjung@
sogang.ac.kr.
Dong-wook Rha, Department and Research Institute of Rehabilitation Medicine, Yonsei University College of Medicine,
Seoul, South Korea. E-mail: medicus@yuhs.ac.
Kyoungchl Kong, Department of Mechanical Engineering,
Sogang University, Seoul, South Korea. E-mail: kckong@
sogang.ac.kr.
http://www.rewalk.com/ http://www.eksobionics.com/ http://www.rexbionics.com/ http://www.indego https://www http://nscisc.uab.edu/Public/Facts%202016.pdf
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