Preliminary Design Review
Preliminary Design Review (PDR): PDRGoogleDriveLink
Month: April 2019
Actuation Subsystem
The actuating subsystem receives the output positions from the processing subsystem, and actuates the hip joint to the desired positions. The actuating subsystem contains DC brushless motors, gearboxes, motor drivers, and power supply. DC brushless motors and gearboxes are chosen according to the output torque and rotation speed they can provide, as well as their Read more about Actuation Subsystem[…]
Test Plan
Spring Validation Demonstration https://drive.google.com/open?id=1Q00n-ekdxeOFAV5u8Qommh54f1LXs4Q–Iys6vxL79g Fall Validation Demonstration https://drive.google.com/file/d/1lrzJkY9VwmLcew_KOf7CMZKsfJSWZWiW/view?usp=sharing
Software and Processing Subsystem
The processing subsystem includes all algorithms within the system, including: signal filtering and conditioning algorithms, prediction and calculation algorithms, and the control algorithm. It will take raw sensor data as an input into the subsystem and output torque values to the actuation subsystem. 20thJanuary 2019 An Initial Git Repository was set up in order to Read more about Software and Processing Subsystem[…]
Subsystem Description
System design description Mechanical Subsystem The mechanical frame, provides structure to the exoskeleton and allows for the system to carry out its main function of correcting the user’s walking gait. This subsystem will be comprised of a waistband that will secure the exoskeleton to the user’s waist. Attached to the waistband will be the rigid Read more about Subsystem Description[…]
Cyberphysical Architecture
Cyberphysical Architecture The cyberphysical architecture of the hip exoskeleton displays the flow of energy and information through the various hardware and software components within the system. The ar- chitecture is organized into four subsystems: the mechanical frame, sensing subsystem, processing subsystem, and actuating subsystem. The mechanical frame subsystem carries out the function of providing physical Read more about Cyberphysical Architecture[…]
Functional Architecture
Functional Architecture The functional architecture in above figure demonstrates the function of the exoskeleton system. It depicts the four major subsystems and the flow of data and energy between them. The first main subsystem is the mechanical brace. The mechanical brace is the exoskeleton frame that attaches to the user and houses all the Read more about Functional Architecture[…]
Electrical Subsystem/ PCB design
The following is an outline of the electrical subsystem of Soteria and the power distribution PCB. The electrical layout of Soteria can be seen in Figure 1. A 48V 20A power supply provides power to two motor controllers, each of which power/control two motors. The 48V is routed routed from the supply to a relay, Read more about Electrical Subsystem/ PCB design[…]
Sensing Subsystem
For the exoskeleton to accurately control the person’s movement, it needs to know certain characteristics of the person’s gait. This includes their center of mass velocity, pelvic orientations, hip angles and foot-ground contact. The sensing subsystem consists of three Inertial Measurement Units to obtain these parameters. 1 March: In order to collect data from the Read more about Sensing Subsystem[…]