EXO_Arm mk.2
Exo-skeletal Arm
This is an exo-skeletal arm designed to enhance the strength of the wearer.
This is a video of the 1st test of the actuator. The actuator is powered by a 12v 5 AH SLA battery and is controlled by a momentary DPDT switch.
Initial strength test of the actuator. It was able to lift 20lbs.
1st test of the Myo sensors. Raw output is displayed on the serial terminal.
2nd test of the Myo sensors. Raw output is displayed on the serial terminal. The arm is controlled entirely by the muscle activity in my left bicep and tricep.
This is a test of the Myo sensor while wearing the arm. This was done before I was using two Myo sensors to control the arm in both directions.
Testing the Wrist Postion Sensor for the EXO_Arm. This will be used to determine with Myo sensor the controller read to determine what direction to move in power assist mode. When my palm faces up the light turns red meaning it will assist me in lifting. When my palm is down the light turns blue meaning it will assist me in pressing, and when my palm is facing right, the light turns green meaning it will read both and pick the sensor with the highest activity level and move in that direction.
Below are some pics the frame:
Left: bare frame. Middle: forearm with wrist position controller. Right: upper arm with main controller and motor driver.
Below are pics of the outer shell build.
I started with poster board to get an idea of the shape I wanted. Once I had that, I covered the paper shells with two coats of fiberglass resin. Next I added one layer of resin soaked fiberglass cloth. Finally, applied the carbon fiber outer layer. I left the outside kind of rough just because I think it looks better. The two shell pieces are attached to the aluminium frame with Velcro straps and rare earth magnets.
Gripper servo and sound board test.
First test of gripper and sound board.
