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19/7/2019

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

AffordableExoskeletonArm

(ExoArm)

AnaffordableExoskeletonArm(ExoArm),thatwillhelp

elderly,disabledpeopleandworkerscomplete

everydaytaskswithlessexhaustion.

KristjanBerce FFoolllloowwpprroojjeecctt LLiikkeepprroojjeecctt JJooiinntthhiisspprroojjeecctt 48.8k 39 367 299
KristjanBerce
FFoolllloowwpprroojjeecctt
LLiikkeepprroojjeecctt
JJooiinntthhiisspprroojjeecctt
48.8k
39
367 299
views
comments
followers
likes

DDeessccrriippttiioonn DDeettaaiillss FFiilleess 11 CCoommppoonneennttss 1155

LLooggss 1111

Instructions 0 DDiissccuussssiioonn 3939

19/7/2019

TEAM(2)

19/7/2019 TEAM(2) KristjanBerce JanLikar Jointhisproject'steam Youtube ImgurTutorial GitHub HARDWARE ONGOINGPROJECT
ONGOINGPROJECT ARDUINO PROGRAMMING
ONGOINGPROJECT
ARDUINO
PROGRAMMING

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

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l e e r r y y 48.8k 39 2017HACKADAYPRIZE ROBOTICS 367 299 EXOSKELETON ASSISTIVETECHNOLOGY

299

19/7/2019

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Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

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These20projectsarethesemifinalistsoftheWheels,Wings,&Walker…

THISPROJECTISSUBMITTEDFOR

Thisprojectwascreatedon03/26/2017andlastupdated3monthsago.

DESCRIPTION

IrememberwatchingmygrandmotherstrugglingwhenmovingheavythingsaroundwhenI

wasyounger.SowhenIwas15,Ihadbigplansonmakinganexoskeletonarmthatwouldhelp

her.Ihadanotebookfilledwithsketchesanddesigns(Iturnedwholehouseupsidedownto

finditbutIthinkit'slost)oftheExoArmusingbuttonsandnomicrocontroller.Goodtimes.

NowthatI'molder,Ihaveanewgoal.Thegoalisthatpeoplewhocan'taffordtobuythose

expensiveexo-arms,haveachanceofmakingonebythemselves.Fromscratch,withlittleto

nomoney.I'vereceivedmanymailsfrompeoplefromthirdworldcountriesthatwilltryand

makeonebythemselves!Andthisissoawesome!

Sountiltheendofthiscompetition,Iwillfocusallmyworkintomakingthisarmlittlemore

user-friendlyandpracticaltouse.

Allthebest!

19/7/2019

KristjanB.

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

DETAILS

UpdatethatisalsoincludedinProjectLogs,butI'llputitherenontheless.

Firstprototypeiscomplete!

Howtomakeit:

19/7/2019

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

Measurementsarenotdefinedbecauseuntilthearmis"universalsize"thelengthsvaryfrom

persontoperson.Sothebestactwillbethatyoumeasureyourownarmandusethose

measurements.

FILES

Pleaseignoreallthetrashinthecode.Itworks,butnotreally.Imean,Iknowwhatit

does,butdon'texpectthatyouwill,becauseit'sreallyallovertheplace.Ifyouhave

anyquestions,feelfreetoaskandI'lltrytohelpasmuchasIcan!

ino - 3.17 kB - 08/03/2017 at 19:58

COMPONENTS

ino - 3.17 kB - 08/03/2017 at 19:58 COMPONENTS 1 × StrainGaugewithLoadCellAmplifier

1×StrainGaugewithLoadCellAmplifier

1×Aluminum4x30xatleast2000mm

1×Longwires

1×Potentiometer

1×Li-Pobattery3S5500mAh

19/7/2019

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

PROJECTLOGS

m m p p o o n n e e n n t t s s

Kristjan Berce • 10/21/2017 at 12:51 • 0 comments

Kristjan Berce • 10/21/2017 at 12:51 • 0 comments

Aschematics.InevergottomakeaPCB,butthatdoesn'tmeanyoushouldn't.It'sactually

veryeasy,asyoucanseethattherearenoresistors,diodesetc.

ForcomponentsandlinksgotoPARTSLIST.

Kristjan Berce • 10/21/2017 at 10:38 • 0 comments

Code?WellifIknewhowtomakeagoodprogramthatrunsit Ispoketoafriendofminethat isextremelygoodinelectronicsandprogramming,andhesaidthatthemostoptimalsolution tointuitivecontrolwouldbetoinsertstraingaugeinyourbones.Butinthisworldthatisnot possibleandprobablyneverwillbe.Sothere'sthat.

See,theproblemisthattheExoArmmustreadtheweightofobjectyouliftbeforeiteventries

toassistyouinlifting.Andthatissohard.Sohard.Weightchangesdependingontheangleof

forearm,howyourarmisangledinrespecttoearth,etc.I'mnotsayingit'simpossible,butit

wouldreallytakesometimetomakethishappen.

SOifyouarelookingtomakeoneyourself,andarenotthatgoodinprogrammingyoushould

justuse2buttons.It'sastronomicallyeasier.

MUSCLESENSOR:

Shortanswer.No.Why?Because.

Justkidding.ItriedusingitanditdidnotworkasIthoughtitwill.Notevenabit.Seethe

problemisthatwhenyouputtheelectrodeonyourbiceps,youcantriggeritjustby

stretchingyourskin.itcausessomuchelectricitythatitfalsetriggersanddevicethinksthat

yousendamusclesignal.SowhentheExo-Armisfastenedtoyourarm,thebeltwillstretch

yourskin,especiallyatthebiceps.Whathappens?Exo-Armflexes,butdoesnotletgo,

becauseitthinksyou'restillsendingsignalstothebicepswhentheonlysignalisyour

stretchedskin,ifthatmakesanysense.

19/7/2019

Wheretoputallelectronics?

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

Ispendsomuchtimetryingtocomeupwithadecentplace.Perhapsagoodstartingpoint

wouldbealittle"backpackthingy"thatsitsonyourshoulderormaybeevenasmall

backpack.Seetheproblemarebatteries.Theyareratherheavyandmakethingsdifficult.We

mustalsokeepinmindthatthisshouldbeaslowcostaspossible,sonofancyExoBacksor

similarthings.

Kristjan Berce • 10/21/2017 at 10:18 • 0 comments

Kristjan Berce • 10/21/2017 at 10:18 • 0 comments

Thisareallthewoodenandaluminumpartsyou'llneed,minusthemountsthatholdwood plates(checkoutthevideos).Pleasekeepinmindthattherearenoholes.ButwhyKristjan?

BecauseI'm99.9999%surethateverymotoryou'llfindhasdifferentgeometry,everyarmis

differentanditgoeson.Soinordertomakethisarm,you'llneedtobecreative.Youcan

followmyinstructionsasfarasyoucan,butIcanpromiseyouthatyou'llhavetofigurethings

onyourowntoo.Buthey!That'sallpartofexperienceandthatisthemostvaluablethingin

lifenexttohealthandknowledge.

ENJOYTHISPROJECT?

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c c t t l l o o g g s s ENJOYTHISPROJECT? Share DISCUSSIONS LogInorbecomeamembertoleaveyourcomment

DISCUSSIONS

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LLooggIInn//SSiiggnnuuppttooccoommmmeenntt

19/7/2019

19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io std0513339 wrote 03/22/2019 at 03:15 Sir, can you please

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

Sir, can you please send the aurdino code for this project?

can you send the code please

friend a question, how long does the battery last in your exobrazo? Do you consume too much?

Could i suggest thermoelectric energy, it is inexpensive, light weight and packs apunch

Sir can u send the Arduino code for this project ??

Sir, can you please send the aurdino code for this project?? I'll be grateful to you if you send the code sir

canyousendmeagainarduinocode

Would it be okay if i tried to made some of these and sell them to help pay for college?

19/7/2019

19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io rrohi46 wrote 05/10/2018 at 16:46 i need this project,

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

i need this project, can i buy from you, please reach me rrohi46@gmail.com

please reach me, its urgent

Hey. I am currently working on my capstone project and I want to build a robotic therapeutic arm support, and your mechanical arm looks like a great start for my project. I just have a few questions about the potentiometer and the strain gauge. I really dont know how they work and how they are connected. Thanks! :)

Sorry I forgot to add a suggestion to use aluminum instead of steel as another option for light weight

Checkoutyourmessages!:)

Comments for exoarm:

1. Could you consider using acrylic sheet instead of steel to make it lighter

2. Would it be possible make/sew up a pouch to house all electronic cables at

the back

3. You could consider making adjustable length of the arm by having it moving

up and down along 2 strips of plastic with holes and a pin to lock in suitable or chosen position. Forgive me if I am not describing it well here.

Sorry I dont have the electronic knowledge to have input.

19/7/2019

19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io nikki.london2030 wrote 10/19/2017 at 22:19

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

Hi.Iamveryimpressed.Iamnotanengineer.IamcarerandIhaveone pledge to you and the community of exoskeleton to build a device to help my Mum to stand up. She had multiple strokes which caused her left arm paralysis. She has some sensation but could not lift arm or left leg. The NHS wrote her off. I know if I can get Mum to stand up I can start re-train her to walk again. Can you all please help me. I have a small fund for this project. If you can please contact me nikki.london2030@gmail.com

I can see the arm of this project can be useful for me to pick Mum up (43Kg) from bed to wheelchair in situation that the hoist is out of order or when the hoist is not able to reach her at floor level (which happened yesterday when she slipped and I had to pick her up with my two arms- I am only small 5 ft

60kg).Thanksamillionforreadingandhopeyoucanhelp.Regards.

ft 60kg).Thanksamillionforreadingandhopeyoucanhelp.Regards. saadahlufdy19 wrote 09/27/2017 at 04:23 what is the value
ft 60kg).Thanksamillionforreadingandhopeyoucanhelp.Regards. saadahlufdy19 wrote 09/27/2017 at 04:23 what is the value
ft 60kg).Thanksamillionforreadingandhopeyoucanhelp.Regards. saadahlufdy19 wrote 09/27/2017 at 04:23 what is the value
ft 60kg).Thanksamillionforreadingandhopeyoucanhelp.Regards. saadahlufdy19 wrote 09/27/2017 at 04:23 what is the value

what is the value of the strain gauge that youre using just now for this project

what's the green board next to the arduino duo?

It's the motor driver :)

Hi,

Congrats on the project. Makes a lot of sense to me. Here to help where I can. Some open thoughts:

Have you considered using a linear motor based on screw-and-nut or ballscrew, to move the arm? The angle of the screw will autoblock the movement. The stepper motor will move it precisely in both directions. The angle on the screw an the friction coeficient will control the amount of weight you can load. You can use the muscle detectors (or two strain gauges) to trigger motion in both ways.

From an ergonomic point of view, consider increasing the connection points to the torso. I know it makes the arm harder to put on, but consider that if you load 10kg at the end of the arm, you will apply a considerable torque to the back. You might cause a back injury. The user will not be used to lift those loads,henceweakback

19/7/2019

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

hope this helps. What kind of help do you need?

Hackaday.io hope this helps. What kind of help do you need? Keep up the good job!

Keep up the good job!

Paulo

Hey! sorry for the late reply!

Linear motor was my first option, however they are slow and expensive.

Yes, my next goal is to make something useful for the back, because it's kinda frustrating to wear only exoarm, without any support.

kinda frustrating to wear only exoarm, without any support. mikey wrote 08/01/2017 at 22:12 Hi, Are
kinda frustrating to wear only exoarm, without any support. mikey wrote 08/01/2017 at 22:12 Hi, Are
kinda frustrating to wear only exoarm, without any support. mikey wrote 08/01/2017 at 22:12 Hi, Are

Hi,

Are you able to give a diagram on how you set up the arm, current parts used, and current code (current arm with the strain gauge). Imma build one for a project:)

Many thanks, Mike

Hello. This is a great project. Im mechanical enginner from venezuela, About the auto calibration of the weight you need. I think you need to set the arm with this logic:

If you carry a weigh that displace the hand Y amound of length it is directly proportional to the force that cause the displacement. So, the sensor need to be at 0º and you have to keep in that position. With the displacement value you can switch on the motor an it will apply the correct charge of energy to keep the wight lifted in the desire position.

Thanks! Yes I had a similar idea in mind. Will try to implement this in the codesoon:)

19/7/2019

19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io PflegeRitter wrote 07/01/2017 at 03:07 Beautyful idea. I
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io PflegeRitter wrote 07/01/2017 at 03:07 Beautyful idea. I
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io PflegeRitter wrote 07/01/2017 at 03:07 Beautyful idea. I
19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io PflegeRitter wrote 07/01/2017 at 03:07 Beautyful idea. I

Affordable Exoskeleton Arm (ExoArm) | Hackaday.io

Beautyful idea. I was searching around for some Input. Im a Nurse and i am about to build a similar device for a Patient. Great Inspiration.Ty<3

Thanks! It's good to hear that this project gives ideas and inspirations to other people :)

Don't forget safety features, you don't want it to break someones arm when a sensor or bad wiring gives faulty data.

It's not said in the videos directly, but if you look at the junction of fore arm, upper arm and where they are fastened to the motor, you can see that the upper arm limits extention of the fore arm. (Video).

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