The main contributions of this project are as follows.

• A modular-type whole body assistive wearable robot HEXAR was developed. The upper and lower exoskeleton systems can be operated separately, and the payload of the upper system is around 20kg.
• A novel method to combine cHRI (cognitive human-robot interface) with pHRI (physical human-robot interface) was developed, and the human arm stiffness factor for this approach was modeled mathematically.
• A simple control method for operating the upper exoskeleton arm was developed, letting the wearer maneuver the system conveniently.
• An under-actuated passive type lower exoskeleton mechanism was developed to combine with the upper exoskeleton.

Mechanical and electrical modular structure are the most distinctive characteristics of the proposed system.