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

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. Electric Motor 2 5 2. Rear Spool 3. Drive Belt with Cover 3 4 4. Front Spool 6 5. Rigid Frame 6. Belts with Leg Loops 11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 4

1. Electric Motor 1 2. Drive Belt I 5 3 3. Rear Pulley 2 4. Drive Belt II 4 5. Front Pulley 11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 5

List of customer requirements: 11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 6

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1 2 5 3 4 6 11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 8

Why we picked ed the prototyp type e design ign: : Mass Motors • Hamstring = 14.53 lbs. • Original belt system had four motors • Belt = 5.89 lbs. • Wanted to reduce this • Prototype = 4.41 lbs. • Prototype has a belt drive which reduces this amount to two motors • The team wants to minimize the mass. • Affects budget and power 11/6/2019 Inna Quiambao – Hip Exoskeleton Project (B9) 9

Connection between Rigid Belt and Spools Frame Deflection during Torque Delivery Belts Fraying or Failing 11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 10

Materials Testing • Frame Components and Spools Frame Deflection Testing • FEA Analysis, Test Rig Tensile Testing on Belts • Lightest weight possible 11/6/2019 Keegan Ragan – Hip Exoskeleton Project (B9) 11

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Dual-Belt Design 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 11/6/2019 Mohanad Fakkeh – Hip Exoskeleton Project (B9) 13

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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. 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, [2] 2018. 11/6/2019 Hip Exoskeleton Project (B9) 15