We have developed an exoskeleton robot for agriculture. It assists farmers in harvesting vegetables and fruits, and carrying the heavy load such as potato bags and cabbage boxes. We have made the robots for some types of farming and discussed the sensors and control of it. We have also performed experiments in order to demonstrate how the robot operates for agricultural purposes thereby showing the potential of the robo

G. Yamamoto

S. Toyama

English

Toyama, S.

Yamamoto, G.

JVE International

 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B      VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 287 555.  Wearable agrirobot   S. Toyama1,a, G. Yamamoto1,b 1 Tokyo Noko University of Technology, Koganei, Tokyo, Japan e-mail:  a toyama@cc.tuat.ac.jp  b 50008643232@st.tuat.ac.jp   Phone: +81-423-88-7207;   Fax: +81-423-88-7207  (Received 04 July 2010;  accepted 10 September 2010)   Abstract. We have developed an exoskeleton robot for agriculture. It assists farmers in harvesting vegetables and fruits, and carrying the heavy load such as potato bags and cabbage boxes. We have made the robots for some types of farming and discussed the sensors and control of it. We have also performed experiments in order to demonstrate how the robot operates for agricultural purposes thereby showing the potential of the robot.  Keywords: robot, wearable robot, agriculture  Introduction     We have serious problems facing an aging society with falling birthrate. It has been estimated that thirty percent people in our society is sixty five years old or older. Although the present population of the agricultural work force is 3.12 million people, it decreases every year. In addition, about fifty nine percent of it is sixty five years old or older. Moreover, the food self-sufficiency rate for the major advanced countries is 130% for France, 119% for the United States, 91% for Germany, 74% for Britain, and only 40% for Japan. This data indicates the importance of improving agricultural efficiency in Japan. Numerous devices for farming equipment have been introduced to achieve efficiency of farming works. Combines and tractors are useful to cultivate and harvest rice fields. However, such large-scale machines are limited to large-scale farms. Small robots are desired for small-scale farm such as slope arable land, and the bottleneck in the house. Besides that, dexterous robots are also desired for harvesting fruits and vegetables. In order to solve these problems, we have developed an exoskeleton robot as shown in Fig. 1.  Structure of a wearable agrirobot   The robot has ten joints (two shoulders, two elbows, two hip joints, two knees, and two ankles). DC motors and drivers are installed to each joint without ankle joints [4-9]. The operation        (a)  front view          (b) side view           (c) back view  Fig. 1. Wearable agrirobot   555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B      VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 288 interface is also attached to the exoskeleton. The input operations are performed by voice recognition device. The status of the operational mode can be confirmed on a monitor in front of eyes. The controllers and the battery for the motors are installed in the exoskeleton.  The frame of the robot is constructed of aluminum and acrylonitrile-butadiene-styrene resin, which is lightweight and excellent in rigidity in bending. The gross weight is 30 kg. However, the user wearing it does not feel its weight because the robot stands by itself. It requires about five minutes to wear it.  Control system   Rotary encoders and gyro-sensors are used for joint angle and posture detection. Pressure sensors and hall sensors are used to follow the movement of a user. A pressure sensor detects the force when a user pushes the robot arm or foot from inside of it. Robot is controlled to keep the force within allowance level by driving motors. Hall sensors are used for a more precise control of the robot. A user has some magnets on the surface of arms and feet. Hall sensors attached on the surface of the robot, detect the fields of the magnets to measure the distance between hall sensors and magnets. The robot is controlled to keep the distance within the predetermined allowance.  Besides that, the robot has some special movement pattern of sequence control for some typical agricultural work such as harvesting grapes and carrots. The robot moves automatically to proceed the movement for harvesting. A user can confirm the movement mode (following control or special works) on the monitor display.  Evaluation of maneuverability    The robot should be kinematically the same with the structure and functions of a human body joints. However, human body has multi-degree-of-freedom in one joint due to deformation and anatomical structure. The joints of the robot are rotational ones. An orientation vector of the rotational axis and the range of it characterize a rotational joint.  To evaluate maneuverability of the robot, we have proposed the following criteria.   )(cosθφψ gn ⋅=                                     (1) The range of motion of a joint of the human body is θ and the range of a joint of the robot is φ. The angle between rotation axis of the human body joint and the robot joint is ψ.  1)(1)()(1)(=≥=<θφθφθφθφθφgthenifgthenif                            (2) For instance, the maneuverability of shoulder joint is expressed as follows.   )(cos)(cos)(cos333322221111θφψθφψθφψ grgrgrnS ⋅+⋅+⋅=         (3) where, r is a weight factor from total range of working area in a shoulder joint.    Since this criteria is easy to calculate, we can extend it to other joints and evaluate the whole body as follows. aakkhhbbeess nRnRnRnRnRnRN +++++=            (4)  555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B      VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 289 where, R is also a weight factor from total range of working area in one joint. The affixing character is s: shoulder, e: elbow, b: dorsal, h: hip joint, k: knee and a: ankle, respectively.  Fig. 2 shows the results of maneuverability of each joint. For a knee joint, the robot has good maneuverability due to a simple structure. However, it is poor in shoulder joint and back. This is because that the human back is combined with many small joints, but the robot has a just flexible one-rod.  An actual shoulder joint is very  complicated structure to make artificially.   NM and NW for the whole body is 0.74 and 0.76, respectively. It shows the good maneuverability to move 74% freely without the robot even if a user wears it. If we add more degree of freedom to the robot, this criteria can be more improved, but it causes the increase of weight and cost. 74% is a good for practical use.   Analysis of farming operations   Farming operations consists of frequent movement of upper limb and lower limb. The robot has to store the movement data for agricultural works. We have measured the movement with special suits that has capability of measuring angles of each joint of the shoulder, elbow, hip and knee joints.  Radish Harvesting  Fig. 3(a) shows the angle of the lower limb joints when harvesting radishes. The movement of the joints of the lower extremities is a repetition of a certain movement pattern. It is the posture shown in Fig. 4(a). The arm also periodically repeats the same operation, along with the movement of the lower limbs.  Cucumber Harvesting  In general, cucumbers are grown on a trellis. Mature cucumbers are harvested from this trellis. Fig. 4(b) shows the angle of the lower limb joints when harvesting cucumbers. Unlike the radish harvesting operation, it does not involve a repetitive movement pattern. This is because the positions of the harvestable cucumbers are not constant like the radishes. It is difficult to find cucumbers among the leaves because they grow at various heights from the top 0.440.910.570.740.610.8610.830.870.770.760.490.920.9500.20.40.60.81Whole BodyShoulder jointElbow jointBackHip jointKnee joointAnkle jointModelWearingFig. 2. Comparison of maneuverability (a) radish harvesting (b) cucumber harvesting (c) fruit tree pruning Fig. 3. Harvesting operations  555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B      VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 290 to the bottom of the trellis. Therefore, numerous bending exercises are involved, like the posture of half-sitting, and these postures appear at random. The operation also involves moving leaves with one hand so that the other may discover them.   Fruit tree pruning  As for fruit trees, cultivation is done from the height a little in general with a high shelf. Therefore, the height of the branches and fruits is over the head. Both hands are raised, and the face assumes an upward posture. Fig.4(c) shows the angle of the arm joint when working on fruit tree pruning.   Evaluation of adaptability  The analysis above indicates that there are many movement patterns for each agricultural works. We suppose that the robot is suitable for some works and not for others. So, we have to introduce criteria of adaptability of the works. The adaptability is based on the definition of the degree of freedom achievement rate. The usual range of motion for a joint of worker body performing farm labor is assumed to be θadp, the range of motion for a joint when wearing the robot is assumed to be φadp. Adaptability is defined as follows.          )(adpadpadp gnθφ=                                                                   (5)  The nadp of each joint and Nadp of the whole body are calculated as well as the maneuverability. Fig. 5. presents the adaptability and indicates that the robot works well with harvesting these agricultural products. However, the values of the shoulder joint and back are poor. Improvement of these joints may be necessary.  03060901200 5 10 15 20 25 30 35 Time [sec.] Joint angle [deg.]Hip joint Knee joint03060901200 5 10 15 20 25 30 35 40 Time [sec.] Joint angle [deg.]Hip jointKnee joint (a) harvesting operation of radish         (b) harvesting operation of cucumber  03060901200 10 20 30 40 50 60 Time [sec.]Joint angle [deg.]Shoulder jointElbow joint 0.850.910.81110.910.920.7210.66110.910.84110.631110.8300.20.40.60.81Whole BodyShoulder jointElbow jointBackHip jointKnee joointAnkle jointRadishCucumber Fruit tree (c) pruning operation of fruit tree       Fig. 5. Comparison of Adaptability Fig. 4. Joint angle  555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B      VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 291 Conclusions   We have developed a wearable agrirobot. We have introduced the criteria for fitness and usefulness of the robot: maneuverability and adaptability. We have succeeded in demonstrating how well it functions in various agricultural operations. REFERENCES  [1] Steger R., Hoon Kim S., Kazerooni H. Control Scheme and Networked Control Architecture for the Berkeley Lower Extremity Exoskeleton (BLEEX). IEEE International Conference on Robotics and Automation, 2006,  3469-3476. [2] Ghan J., Kazerooni H. System Identification for the Berkeley Lower Extremity Exoskeleton (BLEEX). IEEE International Conference on Robotics and Automation, 2006, 3477-3484. [3] Chu A., Kazerooni H., Zoss A. On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX). IEEE International Conference on Robotics and Automation, 2005, 4345-4352. [4] Brown, P., Jones D.,Singh S. K., Rosen J. M. The exoskeleton glove for control of paralyzed hands. Proceedings of IEEE International Conferende on Robotics and Automation, 1993, 642-647. [5] Canales, L, Stanisic M. M. Preliminary design of an exoskeleton shoulder joint without dead positions. IEEE International Conference on Systems Engineering, 1990, 94-96. [6] Ulrich, N. and Kumar, V. Passive Mechanical Gravity Compensation for Robot Manipulators. Proceedings of IEEE International Conference on Robotics and Automation, 1991,1536-1541. [7] Kobayashi H., Hiramatsu K. Development of Muscle Suit for Upper Limb. Proceedings of IEEE International Conference on Robotics and Automation, 2004, 2480-2485. [8] Agrawal A., Agrawal S. K. Effect of Gravity Balancing on Biped Stability. Proceedings of IEEE International Conference on Robotics and Automation, 2004, 4228-4233. [9] Dollar A. M., Herr H. Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art. IEEE Transactions on Robotics, 2008, 24(1), 144-157.   

Wearable agrirobot

Journal of Vibroengineering

 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B 
 
 
 
 
 VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 
287 
555.  Wearable agrirobot 
 
 
S. Toyama1,a, G. Yamamoto1,b 
1
 Tokyo Noko University of Technology, Koganei, Tokyo, Japan 
e-mail:  a toyama@cc.tuat.ac.jp  b 50008643232@st.tuat.ac.jp   
Phone: +81-423-88-7207;   Fax: +81-423-88-7207 
 
(Received 04 July 2010;  accepted 10 September 2010) 
 
 
Abstract. We have developed an exoskeleton robot for agriculture. It assists farmers in 
harvesting vegetables and fruits, and carrying the heavy load such as potato bags and cabbage 
boxes. We have made the robots for some types of farming and discussed the sensors and 
control of it. We have also performed experiments in order to demonstrate how the robot 
operates for agricultural purposes thereby showing the potential of the robot. 
 
Keywords: robot, wearable robot, agriculture 
 
Introduction 
 
   We have serious problems 
facing an aging society with 
falling birthrate. It has been 
estimated that thirty percent 
people in our society is sixty five 
years old or older. Although the 
present population of the 
agricultural work force is 3.12 
million people, it decreases 
every year. In addition, about 
fifty nine percent of it is sixty 
five years old or older. Moreover, 
the food self-sufficiency rate for 
the major advanced countries is 
130% for France, 119% for the 
United States, 91% for Germany, 
74% for Britain, and only 40% 
for Japan. This data indicates the importance of improving agricultural efficiency in Japan. 
Numerous devices for farming equipment have been introduced to achieve efficiency of 
farming works. Combines and tractors are useful to cultivate and harvest rice fields. However, 
such large-scale machines are limited to large-scale farms. Small robots are desired for small-
scale farm such as slope arable land, and the bottleneck in the house. Besides that, dexterous 
robots are also desired for harvesting fruits and vegetables. In order to solve these problems, we 
have developed an exoskeleton robot as shown in Fig. 1. 
 
Structure of a wearable agrirobot 
  
The robot has ten joints (two shoulders, two elbows, two hip joints, two knees, and two ankles). 
DC motors and drivers are installed to each joint without ankle joints [4-9]. The operation 
 
      (a)  front view          (b) side view           (c) back view 
 
Fig. 1. Wearable agrirobot 
 
 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B 
 
 
 
 
 VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 
288 
interface is also attached to the exoskeleton. The input operations are performed by voice 
recognition device. The status of the operational mode can be confirmed on a monitor in front 
of eyes. The controllers and the battery for the motors are installed in the exoskeleton.  
The frame of the robot is constructed of aluminum and acrylonitrile-butadiene-styrene resin, 
which is lightweight and excellent in rigidity in bending. The gross weight is 30 kg. However, 
the user wearing it does not feel its weight because the robot stands by itself. It requires about 
five minutes to wear it. 
 
Control system 
  
Rotary encoders and gyro-sensors are used for joint angle and posture detection. Pressure 
sensors and hall sensors are used to follow the movement of a user. A pressure sensor detects 
the force when a user pushes the robot arm or foot from inside of it. Robot is controlled to keep 
the force within allowance level by driving motors. Hall sensors are used for a more precise 
control of the robot. A user has some magnets on the surface of arms and feet. Hall sensors 
attached on the surface of the robot, detect the fields of the magnets to measure the distance 
between hall sensors and magnets. The robot is controlled to keep the distance within the 
predetermined allowance.  
Besides that, the robot has some special movement pattern of sequence control for some 
typical agricultural work such as harvesting grapes and carrots. The robot moves automatically 
to proceed the movement for harvesting. A user can confirm the movement mode (following 
control or special works) on the monitor display. 
 
Evaluation of maneuverability  
  
The robot should be kinematically the same with the structure and functions of a human body 
joints. However, human body has multi-degree-of-freedom in one joint due to deformation and 
anatomical structure. The joints of the robot are rotational ones. An orientation vector of the 
rotational axis and the range of it characterize a rotational joint.  
To evaluate maneuverability of the robot, we have proposed the following criteria.  
 
)(cos
θ
φ
ψ gn ⋅=  
                                   (1) 
The range of motion of a joint of the human body is θ and the range of a joint of the robot is φ. 
The angle between rotation axis of the human body joint and the robot joint is ψ. 
 
1)(1)(
)(1)(
=≥
=<
θ
φ
θ
φ
θ
φ
θ
φ
θ
φ
gthenif
gthenif
                            (2)
 
For instance, the maneuverability of shoulder joint is expressed as follows.  
 
)(cos)(cos)(cos
3
3
33
2
2
22
1
1
11
θ
φ
ψ
θ
φ
ψ
θ
φ
ψ grgrgrnS ⋅+⋅+⋅=  
       (3) 
where, r is a weight factor from total range of working area in a shoulder joint.   
 
Since this criteria is easy to calculate, we can extend it to other joints and evaluate the whole 
body as follows. 
aakkhhbbeess nRnRnRnRnRnRN +++++=            (4) 
 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B 
 
 
 
 
 VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 
289 
where, R is also a weight factor from 
total range of working area in one 
joint. The affixing character is s: 
shoulder, e: elbow, b: dorsal, h: hip 
joint, k: knee and a: ankle, 
respectively.  Fig. 2 shows the results 
of maneuverability of each joint. For 
a knee joint, the robot has good 
maneuverability due to a simple 
structure. However, it is poor in 
shoulder joint and back. This is 
because that the human back is 
combined with many small joints, but 
the robot has a just flexible one-rod.  
An actual shoulder joint is very  
complicated structure to make artificially.  
 NM and NW for the whole body is 0.74 and 0.76, respectively. It shows the good 
maneuverability to move 74% freely without the robot even if a user wears it. If we add more 
degree of freedom to the robot, this criteria can be more improved, but it causes the increase of 
weight and cost. 74% is a good for practical use. 
  
Analysis of farming operations 
  
Farming operations consists of frequent movement of upper limb and lower limb. The robot 
has to store the movement data for agricultural works. We have measured the movement with 
special suits that has capability of measuring angles of each joint of the shoulder, elbow, hip 
and knee joints. 
 
Radish Harvesting 
 
Fig. 3(a) shows the angle of 
the lower limb joints when 
harvesting radishes. The 
movement of the joints of the 
lower extremities is a repetition 
of a certain movement pattern. It 
is the posture shown in Fig. 4(a). 
The arm also periodically 
repeats the same operation, 
along with the movement of the 
lower limbs.  
Cucumber Harvesting 
 
In general, cucumbers are grown on a trellis. Mature cucumbers are harvested from this 
trellis. Fig. 4(b) shows the angle of the lower limb joints when harvesting cucumbers. Unlike 
the radish harvesting operation, it does not involve a repetitive movement pattern. This is 
because the positions of the harvestable cucumbers are not constant like the radishes. It is 
difficult to find cucumbers among the leaves because they grow at various heights from the top 
0.44
0.91
0.57
0.74
0.61
0.86
1
0.83
0.87
0.77
0.76
0.49
0.92
0.95
0
0.2
0.4
0.6
0.8
1
Whole Body
Shoulder joint
Elbow joint
BackHip joint
Knee jooint
Ankle joint
Model
Wearing
Fig. 2. Comparison of maneuverability 
(a) radish harvesting (b) cucumber harvesting (c) fruit tree pruning 
Fig. 3. Harvesting operations 
 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B 
 
 
 
 
 VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 
290 
to the bottom of the trellis. Therefore, numerous bending exercises are involved, like the 
posture of half-sitting, and these postures appear at random. The operation also involves 
moving leaves with one hand so that the other may discover them. 
 
 Fruit tree pruning 
 
As for fruit trees, cultivation is done from the height a little in general with a high shelf. 
Therefore, the height of the branches and fruits is over the head. Both hands are raised, and the 
face assumes an upward posture. Fig.4(c) shows the angle of the arm joint when working on 
fruit tree pruning.  
 
Evaluation of adaptability 
 
The analysis above indicates that there are many movement patterns for each agricultural 
works. We suppose that the robot is suitable for some works and not for others. So, we have to 
introduce criteria of adaptability of the works. 
The adaptability is based on the definition of the degree of freedom achievement rate. The 
usual range of motion for a joint of worker body performing farm labor is assumed to be θadp, 
the range of motion for a joint when wearing the robot is assumed to be φadp. Adaptability is 
defined as follows. 
         )(
adp
adp
adp gn
θ
φ
=  
                                                                 (5) 
 
The nadp of each joint and Nadp of the whole body are calculated as well as the maneuverability. 
Fig. 5. presents the adaptability and indicates that the robot works well with harvesting these agricultural 
products. However, the values of the shoulder joint and back are poor. Improvement of these 
joints may be necessary. 
 
0
30
60
90
120
0 5 10 15 20 25 30 35
 Time [sec.]
 
Jo
in
t a
n
gl
e 
[d
eg
.
]
Hip joint Knee joint
0
30
60
90
120
0 5 10 15 20 25 30 35 40
 Time [sec.]
 
Jo
in
t a
n
gl
e 
[d
eg
.
]
Hip joint
Knee joint
 
(a) harvesting operation of radish         (b) harvesting operation of cucumber 
 
0
30
60
90
120
0 10 20 30 40 50 60
 Time [sec.]
Jo
in
t a
n
gl
e 
[d
eg
.
]
Shoulder joint
Elbow joint
 
0.85
0.91
0.81
1
1
0.91
0.92
0.72
1
0.66
1
1
0.91
0.84
1
1
0.63
1
1
1
0.83
0
0.2
0.4
0.6
0.8
1
Whole Body
Shoulder joint
Elbow joint
BackHip joint
Knee jooint
Ankle joint
Radish
Cucumber 
Fruit tree
 
(c) pruning operation of fruit tree       Fig. 5. Comparison of Adaptability 
Fig. 4. Joint angle 
 555. WEARABLE AGRIROBOT.  S. TOYAMA1,A, G. YAMAMOTO1,B 
 
 
 
 
 VIBROENGINEERING. JOURNAL OF VIBROENGINEERING.   SEPTEMBER 2010. VOLUME 12, ISSUE 3. ISSN 1392-8716 
291 
Conclusions 
  
We have developed a wearable agrirobot. We have introduced the criteria for fitness and 
usefulness of the robot: maneuverability and adaptability. We have succeeded in demonstrating 
how well it functions in various agricultural operations. 
REFERENCES 
 
[1] Steger R., Hoon Kim S., Kazerooni H. Control Scheme and Networked Control Architecture for the Berkeley 
Lower Extremity Exoskeleton (BLEEX). IEEE International Conference on Robotics and Automation, 2006,  
3469-3476. 
[2] Ghan J., Kazerooni H. System Identification for the Berkeley Lower Extremity Exoskeleton (BLEEX). IEEE 
International Conference on Robotics and Automation, 2006, 3477-3484. 
[3] Chu A., Kazerooni H., Zoss A. On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton 
(BLEEX). IEEE International Conference on Robotics and Automation, 2005, 4345-4352. 
[4] Brown, P., Jones D.,Singh S. K., Rosen J. M. The exoskeleton glove for control of paralyzed hands. Proceedings 
of IEEE International Conferende on Robotics and Automation, 1993, 642-647. 
[5] Canales, L, Stanisic M. M. Preliminary design of an exoskeleton shoulder joint without dead positions. IEEE 
International Conference on Systems Engineering, 1990, 94-96. 
[6] Ulrich, N. and Kumar, V. Passive Mechanical Gravity Compensation for Robot Manipulators. Proceedings of 
IEEE International Conference on Robotics and Automation, 1991,1536-1541. 
[7] Kobayashi H., Hiramatsu K. Development of Muscle Suit for Upper Limb. Proceedings of IEEE International 
Conference on Robotics and Automation, 2004, 2480-2485. 
[8] Agrawal A., Agrawal S. K. Effect of Gravity Balancing on Biped Stability. Proceedings of IEEE International 
Conference on Robotics and Automation, 2004, 4228-4233. 
[9] Dollar A. M., Herr H. Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art. 
IEEE Transactions on Robotics, 2008, 24(1), 144-157. 
 
 


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Wearable agrirobot

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