Team IHMC at the 2020 Cybathlon: a user‑centered approach towards personal mobility exoskeletons

This paper discusses the development of the Quix exoskeleton by Team IHMC for the 2020 Cybathlon, building upon their previous designs and incorporating improvements focused on user comfort and ease of use. Key improvements in Quix include an additional powered degree of freedom for hip ab/adduction, custom-tailored cuffs based on 3D body scans, and a streamlined testing pipeline for online tuning of gait parameters. Although Team IHMC finished fourth, the pilot reported improvements in effort, comfort, and ease of use compared to the previous device, indicating progress in exoskeleton design for personal mobility.

• 1
  The addition of a powered hip ab/adduction joint in Quix reduced the upper-body effort required for balance by laterally shifting the user's weight over the stance leg.
• 2
  Custom-tailored cuffs and a torso brace, based on 3D body scans, improved pilot comfort and ease of donning and doffing the exoskeleton.
• 3
  Online tuning of gait parameters allowed for real-time adjustments based on user feedback, contributing to a more personalized and efficient walking experience.