This project was built for the ROBOFEST2.0 competition which was organized by GUJCOST (Gujarat Council On Science and Technology)
Competition was conducted in three rounds:
Idealization round (won 50,000 INR for presenting solid ideas for building an exoskeleton robot & for building proof of concept).
Proof of concept round (won 2,00,000 INR for building a proper working proof of concept & for building the final prototype).
Finale (won 5,00,000 INR ~ 6,600 USD as a winning prize).
In short, we avail a total of 7,50,000 INR in this project.
Technical Details
Human gait trajectories were analyzed & plotted with the use of kinovea software.
Torque requirements of each lower-limb joint were calculated with the use of the musculoskeletal model in OpenSim software.
According to torque requirements DC planetary geared motors were selected and spur gears were designed.
Whole-body with the gears was designed in SolidWorks.
Six proportional derivative and integral (PID) controllers were coded on Arduino micro-controller in a way that follows the angle inputs and feedback was given by encoders.
All system parameters such as PID constants, speed of exoskeleton &, etc. was tuned by trial and error method.
Currently, Robot is showcasing at India’s first & only Robotics gallery in Ahmadabad, Gujarat.
Photos by Hiten Patel