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Open Exosuit for Differently Abled

This is a lower limb exoskeleton developed to aid patients with walking disabilities in their therapies and to perform simple tasks.

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Robotics for rehabilitation treatment is an emerging field that is expected to grow as a solution to automate training.This device addresses the lack of assistive devices for people with walking difficulties around the globe. A major problem they suffer is their dependency on a caretaker for basic tasks such as toiletries and fetching water or food for themselves. This is also common among people with paraplegia ,hemiplegia and cerebral palsy. As post-treatment care and constant help cost a lot, this is where we decided to focus our energies on.
Robotic rehabilitation can replace the physical training effort of a therapist, allowing more intensive repetitive motions and delivering therapy at a reasonable cost, assess quantitatively the level of motor recovery by measuring force and movement patterns. We have found that early rehabilitation in people with cerebral palsy will help in regaining their walking capabilities.

There are two parts in this project: 1 ) walker and 2) Exosuit system.

First, the walker has to be switched on and then the O-LED screen in the walker shows the menu to sit, stand, walk. The buttons can be used to select between different menus and joystick in the walker can be used to send signals for walking to Exosuit system. The entire system is communicated with paired Bluetooth.

You can refer to this block diagram:

Block diagram of entire system

Part 1

Walker Unit

The Walker unit in this project uses an o-led screen for display, There are four buttons one for switching on the entire system other three are for selection of menu like walking, standing and sitting. Also there is an joystick connected to move forward and stop.

Also there is a Arduino Nano and a Bluetooth module to send signal to Exosuit system.

Connecting OLED with Arduino

Oled screen can be connected and we can display images. The Bmp file can be converted into Hex file and can be used in our code. You can refer this tutorial for understanding more about conversion of bmp file.

Images

Walker

Walker

Connection

Connect the components as shown in the schematic diagram

Arduino Nano OLED

GND ---------------------- GND

5V ---------------------- 5V

A5 ---------------------- SCL

A4 ---------------------- SDA

Arduino Nano HC-05( Bluetooth)

GND ---------------------- GND

5V ---------------------- 5V

Rx ---------------------- Tx

Tx ---------------------- Rx

Arduino Nano Joystick module

GND ---------------------- GND

5V ---------------------- 5V

A1 ---------------------- X pin

Arduino Nano Button

Pin2 ---------------------- Button 1

Pin 3 ---------------------- Button 2

Pin 4 ---------------------- Button 3

Pin 5 ---------------------- Button 4

Working (Walker)

The walker was made by cutting the front portion of normal walker and adding wheels in the two front legs.Holes for were made using drill machine. Grips were also added.

The Walker unit in this project uses an oled screen for display, There are four buttons one for switching on the entire system other three are for selection of menu like walking, standing and sitting. Also there is an joystick connected to move forward and stop.

walker working video

Part 2

Exosuit System

Working

When data from the walker is provided to the exosuit the motors rotates and each motor is connected to one mechanical leg of exosuit. During one rotation the exosuit is designed to take one step.

The mechanical legs can be attached to our legs with straps and belts

Exosuit system

Exosuit system

Mechanical Design

The detailed design files are attached with this tutorial as Catia file.

Parts

Parts

Parts Description

Parts Description

Also refer to the below images to make the mechanical structure to be connected.

Parts Measurment

Connection

Make the connection as shown in the schematic diagram

Arduino Uno HC-05( Bluetooth)

GND ---------------------- GND

5V ---------------------- 5V

Rx ---------------------- Tx

Tx ---------------------- Rx

Arduino Uno Motor Driver (DM860A2)

Pin8 ---------------------- DIR+

GND ---------------------- DIR-

PIN9 ---------------------- PULL+

GND ---------------------- PULL-

Motor Driver (DM860A2) RELAY Module

A+ ---------------------------- IN4 ( Green)

A- ---------------------------- IN3 (Red)

B+ ---------------------------- IN2 (Blue)

B- ---------------------------- IN1 (Yellow)

Relay module. Stepper Motor

IN4 ---------------------------- Green

IN3 ---------------------------- Red

IN2 ---------------------------- Blue

IN1 ---------------------------- Yellow






Images





Exosuit Working Video

unik xo.CATProduct

Assembly of complete exosuit

catproduct - 110.46 kB - 06/24/2020 at 18:43

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catpart - 76.39 kB - 06/24/2020 at 18:43

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motor casing.CATPart

exosuit part CAD

catpart - 708.07 kB - 06/24/2020 at 18:43

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left foot base.CATPart

exosuit part CAD

catpart - 177.61 kB - 06/24/2020 at 18:43

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right foot base.CATPart

exosuit part CAD

catpart - 177.96 kB - 06/24/2020 at 18:43

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View all 19 files

  • 1 × Arduino UNO & Genuino UNO Microcontroller
  • 1 × Onion Corporation OLED Expansion OLED
  • 1 × Analog joystick (Generic)
  • 5 × SparkFun Big Red Dome Button
  • 1 × Arduino Nano R3

View all 9 components

  • Alex M Sunny

    Alex M Sunny06/24/2020 at 18:22 0 comments

    We are working on improving the stability and appearance of the system also we would like to add a sensor feedback system.

    Let's join hands and let's work together as a community to solve this problem.

View project log

  • 1
    Download All materials provided

    The complete 3D CAD designs, circuit diagrams and arduino codes ( since we used Arduino) are provided here

  • 2
    Mechanical Structure fabrication and Assembly

    Refer the mechanical designs  provided and fabricate according to the dimensions provided, we used Iron sheets for fabrication. Assemble all parts according to the CAD assembly file.

  • 3
    Electronics and Motors

    The electronics components in this project is available easily through online shopping sites. Gather all components, the components used are provided in the components section.

View all 6 instructions

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Discussions

sruthimolchacko1995 wrote 06/26/2020 at 18:04 point

This is truly above and beyond.guys really hit it.

  Are you sure? yes | no

Robin Kanattu Thomas wrote 06/27/2020 at 15:32 point

Thanks 

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aniyathomas149 wrote 06/26/2020 at 13:19 point

Outstanding work👍👍👍

  Are you sure? yes | no

Alex M Sunny wrote 06/26/2020 at 15:34 point

Thank you

  Are you sure? yes | no

Robin Kanattu Thomas wrote 06/27/2020 at 15:32 point

Thanks 

  Are you sure? yes | no

John wrote 06/26/2020 at 12:39 point

Good work

  Are you sure? yes | no

Alex M Sunny wrote 06/26/2020 at 15:34 point

Thanks

  Are you sure? yes | no

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