Air Pack Exoskeleton Sensor Interface

Publicado el: 08 noviembre 2024
en el canal de: Trillium R&D

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While developing a powered exoskeleton, I needed a robust sensor that is adaptable to different users and able to detect variable force inputs.

My solution was to use a series of air bladders inside the exoskeleton frame. Not only do these account for difference in pilot's sizes, but they act as a control system.
Each bladder uses a pressure sensor, indicating the pilots desired movements and forces to an arduino. Corresponding proportional forces are then sent from the actuators.

This system can be used for any kind of actuator, but I am using pneumatics and servo valves. When the sensor reads zero, the valve is closed and the cylinder is locked. When it reads max pressure (7psi) the servo valve is fully open and the cylinder is at max flow rate.

In this particular test when the pressure is set to zero, the servo position is set to retract the cylinder. When it's set to max, the servo is set to extend.

This was designed in 2021 and built in 2023 as an engineering independent study university project.

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