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