Manoj Kumar Sharma
Download Project (1.6 MB)
Exoskeletons, a wearable robot that intelligently augments the physical power of a human being. Lately these robots are finding their way towards the military and consumers as well. Our body has a skeleton that helps in maintaining the posture. Often times fatigue becomes an important issue, especially those who regularly carry heavy loads; one solution to this is to attach a structure that can cling to a human body that can bear the load on its own. One of the biggest challenge is to design a structure that can fits snugly and feels natural during operation. The approach proposed here, focuses on a simple 3DoF upper limb exoskeleton; to actuate the exoskeleton, pilot’s intention is read and parsed through a Dynamic Intention Filter (DIF) and then to a feedback loops that eventually controls the torque of the motors. As a result, the final design feels so natural that there is, almost, no learning curve to its operation.
John S. Loomis, David H. Myszka, Raul E. Ordonez
Primary Advisor's Department
Electrical and Computer Engineering
Stander Symposium poster
"Intention Based Upper-limb Exo-skeleton" (2016). Stander Symposium Projects. 824.