Previously, the walking states of exoskeleton were divided into three stages (including BLEEX) around the world: single support, double support and double support with one redundancy .
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX), IEEE/ASME Transactions on Mechatronics 11(2): 128-138.
On the control of the berkeley lower extremity exoskeleton(BLEEX), Proceedings of the 2005 IEEE International Conference on Robotics and Automation, p.
The Active Ankle-Foot Orthosis (AAFO) , Knee-Ankle-Foot Orthosis (KAFO), Berkley Lower Extremity Exoskeleton (BLEEX), and Hybrid Assistive Limb (HAL) belong to the leg orthoses and exoskeletons.
Kazerooni of the University of California-Berkeley  designed the lower-limb exoskeleton robot BLEEX (Berkeley Lower Extremity Exoskeleton), and designers called it "weight-bearing and energy independent exoskeleton." According to the force of the exoskeleton, the inverse dynamic model of the exoskeleton is used as the feed-forward controller and the joint angle sensor is used to judge the movement period of each leg and control the coordinated movement of the exoskeleton.
Huang, "Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX)," International Journal of Robotics Research, vol.
project, funded by the Defense Advanced Research Projects Agency (DARPA), began in 2000.
uses a network of over 40 hydraulic actuators and sensors that determine the movements of the user.
A 28 MB video of BLEEX
can be viewed at www.rsleads.com/405df-106
consists of a pair of mechanical metal leg braces that include a power unit and a backpack-like frame.
On the mechanical design of the Berkeley lower extremity exoskeleton (BLEEX), IEEE Intelligent Robots and Systems, Edmonton, Canada: 3132-3139.
On the control of the Berkeley lower extremity exoskeleton (BLEEX), IEEE International Conference on Robotics and Automation, Barcelona: 4364-4371.