OpenExo: Modular Open-Source Exoskeleton Powered by CubeMars Robotic Actuators

Wearable robotic exoskeletons are transforming research in rehabilitation, robotics, and human performance. However, high development costs, long timelines, and complex technical requirements have limited access for many researchers. Traditional exoskeletons are often lab-bound and designed for specific applications, reducing flexibility for exploring new experiments.

OpenExo, developed by Northern Arizona University and published in Science Robotics (OpenExo: An open-source modular exoskeleton to augment human function | Science Robotics), breaks these barriers. This open-source, modular, untethered exoskeleton framework provides full access to software, electronics, motor hardware, and control strategies, enabling rapid experimentation and innovation.

Key Features of OpenExo

Modular Design: Build Your Own Exoskeleton

• Hip, ankle, and elbow modules

• Multi-joint combinations (e.g., hip + ankle)

• Standardized interfaces for flexible assembly and different body types

Multi-Level Control System

• Low-level: Open and closed-loop torque control

• Mid-level: Gait phase estimation and finite state machine (FSM)

• High-level: Custom strategies with Python GUI support for real-time control and biofeedback

Comprehensive Open-Source Resources

• Full CAD designs, BOM, and PCB schematics

• Bluetooth (BLE) data transmission for experiments

• Detailed documentation via GitHub, ReadTheDocs, and official site

Hardware Powered by CubeMars AK Series Robotic Actuators

Lower-Limb Exoskeleton

• Hip: CubeMars AK60-6 V1.1 KV80 robotic acutator × 2 (direct drive)

• Ankle: CubeMars AK80-9 KV100 robotic acutator × 2 via Bowden cable

Torque and pressure sensors, CAN bus communication

Upper-Limb Exoskeleton

• Elbow: CubeMars AK60-6 V1.1 KV80 robotic acutator × 2 via Bowden cable

Torque and pressure sensors, CAN bus communication

Why Choose CubeMars AK Series Robotic Actuators

• Compact, high-performance, and highly integrated actuators

• High torque density for dynamic motion

• Fast response for precise control

OpenExo combined with CubeMars AK series robotic acutator provides a reliable, modular, and fully open exoskeleton platform. It accelerates research, lowers entry barriers, and empowers scientists, engineers, and educators to explore innovative wearable robotics applications.

Educational Discount

Now, CubeMars has officially partnered with OpenExo, using the OpenExo open-source platform to build its own exoskeleton. Educational discounts are available through CubeMars.

OpenSource Code:GitHub - naubiomech/OpenExo: Open Source Exoskeleton