{"id":54,"date":"2020-11-18T15:45:36","date_gmt":"2020-11-18T15:45:36","guid":{"rendered":"http:\/\/engprojects.tcnj.edu\/teleoperation-exoskeleton\/?page_id=54"},"modified":"2020-11-23T22:18:43","modified_gmt":"2020-11-23T22:18:43","slug":"exoskeleton-design-diagrams-pcb-diagrams","status":"publish","type":"page","link":"https:\/\/engprojects.tcnj.edu\/teleoperation-exoskeleton\/exoskeleton-design-diagrams-pcb-diagrams\/","title":{"rendered":"Project Design"},"content":{"rendered":"\n

System Architecture<\/h2>\n\n\n\n
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The project utilizes an upper body exoskeleton with potentiometers that directly capture joint angle positions. The potentiometers will provide joint angle data by having their positions read by a microcontroller. The microcontroller will apply mapping, smoothing, and acceleration\/deceleration algorithms to the angle data from the potentiometers. This data will be sent via a serial connection to a PC running a Python intermediary layer, which will translate the angle data to robot commands These commands will be passed to a Nao robot, which will copy the user\u2019s movements in near real-time.<\/p>\n\n\n\n

Electronics Architecture<\/h2>\n\n\n\n
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Circuit Schematic<\/figcaption><\/figure>\n\n\n\n
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PCB Layout Design<\/figcaption><\/figure>\n\n\n\n

Exoskeleton Design\/Implementation<\/h2>\n\n\n\n
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Wrist Joint<\/figcaption><\/figure>\n\n\n\n
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Shoulder Joint<\/figcaption><\/figure>\n\n\n\n
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Elbow Joint<\/figcaption><\/figure>\n\n\n\n
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Back Mount<\/figcaption><\/figure>\n\n\n\n
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Upper Body Assembly<\/figcaption><\/figure>\n\n\n\n
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Implemented Part of Exoskeleton<\/figcaption><\/figure>\n\n\n\n
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Exoskeleton on a person<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"

System Architecture The project utilizes an upper body exoskeleton with potentiometers that directly capture joint angle positions. The potentiometers will provide joint angle data by having their positions read by a microcontroller. The microcontroller will apply mapping, smoothing, and acceleration\/deceleration algorithms to the angle data from the potentiometers. This data will be sent via a … <\/p>\n

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