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Research Exoskeleton Phase two : New Robotic Exoskeleton to Amplify the Wearer's Arm Strength

Phase two : New Robotic Exoskeleton to Amplify the Wearer's Arm Strength

Last Updated on Sunday, 12 September 2010 09:47 Written by TruongTrongToai Wednesday, 25 August 2010 12:09

Mechanical design of Exoskeleton: Truong Trong Toai, Vo Van Tuan

Kinematics and Dynamics of Exoskeleton: Galina, Nguyen Tuan Anh

 

   CAD Schematic of Prototype I

 

System Schematic of Exoskeleton

 PowerPC Board for Exoskeleton Control

  • Standard Mini-ITX Mainboard, 17cm x 17cm
  • LVDS 24bit (LCD), XGA, HDMI video support
  • SATA/PATA (IDE) support
  • Micro-SD Card slot
  • PCI slot, 2 Mini-PCI (radio slots)
  • 10/100 Ethernet copper
  • RS232, CAN (2 each, Dsub & RJ)
  • DDR2 RAM
  • Power Save Hibernate
  • NOR, NAND, and Backup FLASH
  • Local Bus IO connector
  • USB A, B, OTG
  • JTAG and Control CPLD

Control Software of Exoskeleton

 

  • The Real-Time Toolkit (RTT) is not an application in itself, but it provides the infrastructure and the functionalities to build robotics applications in C++. The emphasis is on real-time, on-line interactive and component based applications.

  • The Components Library (OCL) provides some ready to use control components. Both Component management and Components for control and hardware access are available.

  • The Kinematics and Dynamics Library (KDL) is a C++ library which allows to calculate kinematic chains in real-time.

  • The Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule, such as (Extended) Kalman Filters, Particle Filters (Sequential Monte methods), etc.

NI PCI-6220 Card

  • 16-Bit, 250 kS/s, 16 Analog Inputs
  • 24 digital I/O, 32-bit counters, digital triggering
  • NI-MCal calibration technology for increased measurement accuracy
  • Correlated DIO (8 clocked lines, 1 MHz)
  • NIST-traceable calibration certificate and more than 70 signal conditioning options
  • Select high-speed M Series for 5X faster sampling rates or high-accuracy M Series for 4X resolution
  • NI-DAQmx driver software and NI LabVIEW SignalExpress LE interactive data-logging software

The Delta Force/ Torque Sensor

Force/Torque Sensor system measures all six components of force and torque

 

Impedance Controller for Exoskeleton

Admittance Controller for Exoskeleton