Vishnu Aishwaryan Subra Mani
Exoskeletons and Exosuits are becoming more and more popular. Yet the cost to make a unilateral one joint assistive device is pretty expensive.
Human Motion detection is quite complex hence to implement a robust controller various sensors and complicated AI based approach are usually used. But this prototype doesn't involve any AI and only has one encoder behind the motor which is used to control the motor to assist the user during hip flexion. The robustness of the controller is still being evaluated.
But the human detection and motor movement are better mapped. There are no transmission systems between the motor and the cable. A maximum assistive force of 70N is applied to the user.
Motor and Controller (https://mjbots.com/products/moteus-r4...)
Exploring the possibility of Variable Stiffness Compliant Ankle Exoskeleton using Carbon Fiber Struts
The Ankle Exo portrayed here is a continuation of work done on Soft Hip ExoSuit Part 1 but the rope from the pulley is attached to the ankle rather than thigh linkage. I implemented two pressure sensor to act as contact switches. The idea was inspired from two research papers whose links are included here.
The contact switches are spaced out on the heel and ball of the feet to act as triggers. The motor emulates a high stiffness spring behavior when both the heel and ball sensor triggers, which happens during midstance of the gait. At other times a feedforward torque is used to keep tension in the rope.
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