SEAN OVIEDO INNA QUIAMBAO MOHANAD FAKKEH 11/6/2019 Sean Oviedo - - PowerPoint PPT Presentation

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SEAN OVIEDO INNA QUIAMBAO MOHANAD FAKKEH 11/6/2019 Sean Oviedo - - PowerPoint PPT Presentation

Aug 31, 2023 14 likes •166 views

KEEGAN RAGAN SEAN OVIEDO INNA QUIAMBAO MOHANAD FAKKEH 11/6/2019 Sean Oviedo Hip Exoskeleton Project (B9) 2 Figure ure 1: Force diagram of a hip exoskeleton design [1] 11/6/2019 Sean Oviedo Hip Exoskeleton Project (B9) 3 1 1.

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KEEGAN RAGAN SEAN OVIEDO​ INNA QUIAMBAO​ MOHANAD FAKKEH

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11/6/2019 Sean Oviedo – Hip Exoskeleton Project (B9) 2

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11/6/2019 Sean Oviedo – Hip Exoskeleton Project (B9) 3 Figure ure 1: Force diagram of a hip exoskeleton design [1]

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11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 4

  • 1. Electric Motor
  • 2. Rear Spool
  • 3. Drive Belt with Cover
  • 4. Front Spool
  • 5. Rigid Frame
  • 6. Belts with Leg Loops

1 2 3 4 5 6

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11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 5

  • 5. Front Pulley
  • 4. Drive Belt II
  • 3. Rear Pulley
  • 2. Drive Belt I
  • 1. Electric Motor

1 2 3 4 5

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11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 6

List of customer requirements:

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11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 7

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11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 8

1 2 3 4 5 6

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11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 9

Mass

  • Hamstring = 14.53 lbs.
  • Belt = 5.89 lbs.
  • Prototype = 4.41 lbs.
  • The team wants to minimize the

mass.

Motors

  • Original belt system had four motors
  • Wanted to reduce this
  • Prototype has a belt drive which

reduces this amount to two motors

  • Affects budget and power

Why we picked ed the prototyp type e design ign::

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11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 10

Connection between Rigid Belt and Spools Frame Deflection during Torque Delivery Belts Fraying or Failing

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11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 11

Materials Testing

  • Frame Components and Spools

Frame Deflection Testing

  • FEA Analysis, Test Rig

Tensile Testing on Belts

  • Lightest weight possible
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11/6/2019 Mohanad Fakkeh – Hip Exoskeleton Project (B9) 12

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Component Price (Total) Aluminum Stock (Frame) $75.00 Bearings and Gearing $100.00 Harness $50.00 Power Supply $50.00 Battery $50.00 Wiring $30.00 1 inch webbing $12.63 Electric Motor x 2 $1,200.00 Spools $100.00 Knee Brace 2 $35.76 Buckles $5.00 Sensors $100.00 Total $1,808.39 Dual-Belt Design

11/6/2019 Mohanad Fakkeh– Hip Exoskeleton Project (B9) 13

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11/6/2019 Hip Exoskeleton Project (B9)

1 4

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[1]

  • A. T. Asbeck, K. Schmidt and C. J. Walsh, "Soft exosuit for hip assistance," Elsevier - Robotics and Autonomous Systems, vol. 73, pp. 102-110, 2015.

[2]

  • M. O. Bair, "The Design and Testing of a Powered Exoskeleton to Reduce Metabolic Cost Of Walking in Individuals with Cerebral Palsy," Northern Arizona University, Flagstaff,

2018.

11/6/2019 Hip Exoskeleton Project (B9) 15