Omni-usability Soft Robotic Exoskeleton Phase 2
Is this project an undergraduate, graduate, or faculty project?
Undergraduate
Project Type
group
Campus
Daytona Beach
Authors' Class Standing
Bryan Gonzalez, Junior Sergio Carli, Junior Ryan C. Ebrahimi, Sophomore Zachary R Nadeau, Junior Joseph McNaughton IV, Junior Bryson Prince, Sophomore Jeosffrey G. Cevallos Jr., Junior
Lead Presenter's Name
Bryan Gonzalez
Lead Presenter's College
DB College of Arts and Sciences
Faculty Mentor Name
Sergey Drakunov
Abstract
The overarching concept of the Omni-usability Soft Robotic Exoskeleton (OSRE) phase 2 is to still create a safe exoskeleton platform that can be used in various fields by simply changing the programming based on the desires or needs of the user. The OSRE in phase 2 will use Mckibben muscles in conjunction with Origami soft muscles to mimic the body's natural muscle groups more effectively than in phase 1. Two strategies are being used to achieve this to control the more complex movement. The first is to rebase the controls in a quaternion coordinate system using the sliding mode controller we have currently developed. This will be done to simplify the controls and account for the rotations added by the Origami muscles. The other strategy is to design a controller to determine the movement is stimulated by reading the electromyographical signals given off by the user's muscles, but it can also be used by having preset programs. This platform also acts as a testing bed for control algorithms concerning soft robotics with the planes to implement non-linear control on the soft robotic exoskeleton.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, Collaborative, Climbing, or Ignite Grants) from the Office of Undergraduate Research?
Yes, Ignite Grant
Omni-usability Soft Robotic Exoskeleton Phase 2
The overarching concept of the Omni-usability Soft Robotic Exoskeleton (OSRE) phase 2 is to still create a safe exoskeleton platform that can be used in various fields by simply changing the programming based on the desires or needs of the user. The OSRE in phase 2 will use Mckibben muscles in conjunction with Origami soft muscles to mimic the body's natural muscle groups more effectively than in phase 1. Two strategies are being used to achieve this to control the more complex movement. The first is to rebase the controls in a quaternion coordinate system using the sliding mode controller we have currently developed. This will be done to simplify the controls and account for the rotations added by the Origami muscles. The other strategy is to design a controller to determine the movement is stimulated by reading the electromyographical signals given off by the user's muscles, but it can also be used by having preset programs. This platform also acts as a testing bed for control algorithms concerning soft robotics with the planes to implement non-linear control on the soft robotic exoskeleton.