Fig. 1

System configuration of a wearable robotic system “curara.” This wearable robotic system was developed to support the wearer’s coordinated motion in the lower limbs. The main components of the curara are actuators, joint supports, a switch box, and a controller box. The total weight of the system is about 5.8 kg. The joint supports can be customized for each subject’s link length because its attachments between the hip joint frame and knee joint frame are composed of Velcro tape, which is a soft material. Actuators are separately attached on the knee and hip joints by the joint supports molded from acrylonitrile butadiene styrene resin without using metallic exoskeleton frames