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However, its low open\u2010loop locomotion control precision makes it difficult to perform tasks requiring precise control, while the number of sensors that can be carried is limited due to their low load capacity, which significantly limits its application scenarios. To this end, an exoskeleton is proposed herein, which significantly improves the locomotion control accuracy and load capacity of cyborg insects. The exoskeleton, with a peripheral size of 7.2\u2009cm\u2009\u00d7\u200914\u2009cm, employs three wheels to carry the load and control the direction of motion of the cyborg insect. The exoskeleton\u2010integrated cyborg insect excels in locomotion control precision. Without feedback control, it completes continuous circular and linear motions with minor offset errors. Compared to other cyborg insects, its load capacity is increased from less than 20\u2013400\u2009g or more, allowing it to be equipped with large, energy\u2010intensive sensors. In addition, the exoskeleton supports switching between high\u2010precision controlled motion and insect\u2010driven active exploration modes. This design broadens the application scenarios of the cyborg insect and opens the possibility of performing more complex tasks.<\/jats:p>","DOI":"10.1002\/aisy.202400713","type":"journal-article","created":{"date-parts":[[2025,1,26]],"date-time":"2025-01-26T22:04:31Z","timestamp":1737929071000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Gear\u2010Switch\u2010Integrated Dual\u2010Mode Three\u2010Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open\u2010Loop Locomotion Control Precision and Load Capacity"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5434-7160","authenticated-orcid":false,"given":"Rui","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zezhong","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Duc Long","family":"Le","sequence":"additional","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen","family":"Lv","sequence":"additional","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sun Woh","family":"Lye","sequence":"additional","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4634-1639","authenticated-orcid":false,"given":"Hirotaka","family":"Sato","sequence":"additional","affiliation":[{"name":"School of Mechanical &amp; Aerospace Engineering Nanyang Technological University  50Nanyang Avenue Singapore 639798 Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,1,26]]},"reference":[{"key":"e_1_2_9_2_1","unstructured":"J. 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