DIY exoskeleton

How can you independently implement an exoskeleton?

To make it wildly strong, as I understand it, it is necessary to stop on hydraulics.
For the hydraulic system to work, you need:

- strong and flexible frame
-minimally required set hydraulic pistons (I'll call them "muscles")
-two vacuum pump, two pressure chambers with a valve system connected by a tube.
-tubes capable of withstanding high pressure.
-source of power exoskeleton
To operate the valve system:
-Small dead computer
-about 30 sensors with seven (for example) degrees proportional to the valve openness
- a special program capable of reading the states of the sensors and sending the appropriate commands to the valves.

Why all this is needed:

- "muscles" and the frame itself is the entire musculoskeletal system.
-vacuum pumps. why two? so that one increases the pressure in the pressure chambers of the pipes and muscles, and the second decreases.
- pressure chambers connected by a tube. in one, increase the pressure in the second, decrease, and equip the tube with a valve that opens only in two cases: equalizing the pressure, ensuring the idle flow of the liquid.
-valves. it's simple and efficient system control, which will depend on the pressure in the pressure chamber and computer control. by increasing the pressure in the pressure chamber, opening the valves of the channels of the "strained muscles" will allow one or another action to be carried out by increasing the pressure on the hydraulic pistons, moving parts of the skeleton (frame).

Sensors, why about thirty? Two for the feet, three for the legs, six for the arms and 4 for the back. how to arrange them? against the movement of the limbs. so that the leg extended forward presses from the inside on the exoskeleton and on the sensor on its inner side. further I will explain why it is so.
-computer with the program. the main task of the computer and the program is to make sure that the sensors do not experience pressure, then the person inside will not feel the extra resistance of the exoskeleton, which will strive to repeat the movements of a person regardless of the activity of nerves, muscles or any other biometric indicators, thereby allowing the use of much cheaper sensors than, for example, in high-tech exoskeletons. sensor signals for a computer should be divided into two groups: with unconditional control hydraulic system and accepted only under the condition that the opposite sensor with unconditional control does not experience pressure. This implementation will keep the leg propped with the knee in the ground from automatic extension if the person does not unbend it himself. But for this, the person inside the exoskeleton will have to raise his leg from the ground (or you need to programmatically reduce the sensitivity of the sensors triggered with the condition). On the example of a leg: place sensors with an unconditional signal on the front side, with an unconditional signal on the back. imagine how the movement will be carried out. when a person bends a leg, the leg of the exoskeleton will bend even if the entire weight of the person is on the leg extension sensors. Here, using an accelerometer (or other apparatus similar to a vestibular one), you can programmatically set a change in the unconditionality of the sensor signals depending on the position of the body in space, eliminating the twisting of the exoskeleton when falling on the back.

Further, the hands - to increase the strength, make three-fingered, strong, you can combine hydraulics and metal rope... the hand should be separate from the human, that is, in front of the wrist joint, this will exclude the constructive difficulties associated with finding the human hand in the exoskeleton hand and will not allow injury to the human hand, as well as the human foot should be on the ankle joint of the exoskeleton and protected.
- hand control. a little free space for two-thirds of the freedom of movement of the hand and fingers of a human hand in the hand of the exoskeleton and a system of three rings on cables, three fingers from the little finger to the middle finger in one, the index finger in the other and the thumb in the third. all control is reduced to the fact that the person's fingers, moving the ring that is put on them, rotate the sensor wheel with a cable, depending on the rotation of which the fingers of the exoskeleton are bent and unbent. it will exclude extra effort hydraulics for extension or flexion of the exoskeleton fingers beyond its design capabilities. use one cable for two rings, one or two. Why? by the fact that the fingers from the little finger to the index finger need to be bent and unbent only in one direction a thumb in two. You can check on your own hands if you want.

Source of power exoskeleton- here with etm again comes out a terrible mudyatina. You need to choose a power source only after all necessary calculations, maximizing the design of the exoskeleton and measuring its energy consumption.

Exoskeleton for the first time can become more accessible to the mass consumer, bringing real practical benefits. Last news an industry portal has published on this topic Composites Today!

The new exoskeleton will make walking more comfortable and easier. The device is a shoe made with composite materials and does not require power supplies for operation!

New exoskeleton! How is it useful?

A group of American developers consisting of Stephen Collins, Bruce Vigin and Gregory Savicki presented the world with a new exoskeleton in the form of a kind of boots. The novelty is interesting the fact that its design was created using innovative materials and does not involve the use of batteries or external power supplies. These features allowed not only to significantly reduce the weight of the device (each the boot weighs less than one and a half kilogram) but also make it completely autonomous!

Studies have shown that a "pedestrian" exoskeleton is able to reduce a person's energy expenditure when walking up to 7%! This result truly can be called breakthrough! Although the first attempts to facilitate human movement began back in the 80s of the last century, to date, only specialized rubber bands, which are far from the performance of the mentioned boots, have achieved the greatest success in this matter, among autonomous devices. As for exoskeletons, in principle, there are already many units of this type in the world, but all of them, as a rule, use artificial energy sources. This, in turn, limits freedom and autonomy of movement.

Exoskeleton - Boots: How they work (video)

How the exoskeleton works in the form of boots is pretty simple. The device, made from carbon fiber, has a spring that attaches to the leg via a mechanical device (ratchet) on the back just below the knee. The exoskeleton has a frame made of lightweight fibrous carbon material and a spring that connects the back of the foot to top the lower leg (just below the back of the knee) where it is connected to the mechanical clutch. When the Achilles tendon is stretched, the sleeve engages in the upward position, the spring stretches like a tendon, storing energy. After the walking foot is lowered, the clutch moves to the lower position, the spring relaxes, releasing elastic energy, which again pushes the clutch to the upper position, starting the next cycle. V general view the cycle of the exoskeleton consists of the following stages:

1. Ratchet engages;
2. The spring weakens, the released elastic energy pushes the ratchet up;
3. The ratchet is fixed at the highest point;
4. After moving the weight, the spring is stretched;
5. The spring reaches its maximum tension;
6. The ratchet is released, the leg is moved one step forward, and the cycle is repeated again.

It should be noted that scientists have been working on this project for many years. Many designs and materials have been tried. Ultimately, the choice fell on a composite material using carbon fiber.

The presented copy can be considered a breakthrough in the industry and ready (to one degree or another) for practical application However, the researchers are not satisfied with what has already been achieved! Already, options for improving the design are being worked out through the use of electronics, which will allow tracking individual characteristics walking and terrain features (for example - climbing a mountain).

In addition, the creators of the innovative exoskeleton hope to team up with sports equipment manufacturers to gain financial and technological support to commercialize the invention. It is assumed that exoskeleton boots will cost no more than ski boots. Given these prerequisites, it can be assumed that new development will clearly find its buyer and will be in demand.

Exoskeleton history

The first device in history that can be classified as an exoskeleton is the invention of a Russian craftsman Nikolay Young... In 1890, he introduced a compressed gas bag design to facilitate movement. For obvious reasons, the first exoskeleton was extremely primitive.

The next step in the development of exoskeletons was taken by an American inventor Leslie Kelly in 1917. The design that received the name pedomotor used the energy of steam.

The first exoskeleton, in modern understanding of this word, was developed in 1960 by the company GeneralElectric for the needs of the US armed forces. A device called Hardiman made it possible to lift weight up to 110 kilograms, while using an effort comparable to lifting a weight of 4.5 kg by a person. The design of the exoskeleton included hydraulic mechanisms and electrical power as a source for operation. Nevertheless, Hardiman also had a number of significant drawbacks: a large dead weight (about 680 kg.); low speed of work; low level of control over manipulations. It should be noted that this device has never been tested with a person inside, due to the high risk to the life and health of the tester.

In 1969, the first pneumatic-powered walking exoskeleton was developed in Yugoslavia.

Exoskeleton from DARPA(Photo: en.Wikipedia.org)

Much more successful Monty reed while working on a project DARPA... Reed was injured as a result of an unsuccessful parachute jump. While in the hospital, recovering, he read a book Robert Heinlein « Starship Troopers ". In it, the exoskeleton becomes the key uniform of the soldier. The book inspired Reed, and in 1986 the world was introduced LifeSUIT created within the project Pitman... Developments in this direction have continued. One of the latest modifications is the LifeSUIT 14 exoskeleton, capable of covering a distance of 1 mile on a full charge and lifting the operator's weight up to 92 kg.

In January 2007, it became known that the US Department of Defense (Pentagon) placed an order and provided funds to the University of Texas for the creation of a new class of military exoskeletons. Within the framework of the project, among other things, it was planned to study artificial electroactive polymers designed to increase the strength factor, reduce the weight of the structure and increase the efficiency of movement. As a result, the developers have made significant strides! They were based on nylon thread and fishing line. "Polymeric muscles" from the USA exceed the capabilities of human muscles by 100 times! At the same time, their price is only $ 5 per kilogram, while the muscles for the exoskeleton made of titanium and nickel alloys cost at least $ 3,000 per 1 kg.

Since the end of 2013, active research on the issue of exoskeletons has been carried out in Russia. The project, called ExoAtlet, aims to create a mechanism for medical purposes.

Why do you need an exoskeleton?

A mechanism capable of facilitating human movement and increasing it physical strength promises great prospects!

To date, experts identify 3 main areas where the exoskeleton will be in great demand.

1. First of all, it is - military industry! Actually, it was here that exoskeletons received their initial impetus for development and progress. The design will help the soldier to carry more weight (including weapons) and protect him with a layer of armor.
2. Exoskeletons can be of great benefit and in the medical segment... They will make life easier and help people with a damaged musculoskeletal system to move around.
3. The third area where exoskeletons will be in demand is the use of similar designs. for work... For example, in construction or material handling.

Thus, we can state that exoskeleton - an aggregate of the future! If you have a couple of million dollars, you should probably think about investing in this particular sector of the national economy.

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An exoskeleton is an external frame that allows a person to perform truly fantastic actions: lift weights, fly, run at great speed, make giant jumps, etc. And if you think that only the main characters have such devices " Iron man"or" Avatar ", then you are deeply mistaken. They have been available to mankind since the 60s of the last century; moreover, you can learn how to assemble an exoskeleton with your own hands! However, about everything in order.

The exoskeleton: acquaintance

Today you can easily buy an exoskeleton - similar products are produced by Ekso Bionics and Hybrid Assistive Limb (Japan), Indego (USA), ReWalk (Israel). But only if you have extra 75-120 thousand euros. So far, only medical exoskeletons are being produced in Russia. They are designed and manufactured by the Exoathlet company.

The first do-it-yourself exoskeleton was made by scientists from the corporations General Electric and the United States Military back in the sixties of the last century. It was called Hardiman and could freely lift a load of 110 kg into the air. The person wearing this device experienced a load in the process, as when lifting 4.5 kg! Only here Hardiman itself weighed all 680 kg. That is why he was not in great demand.

All exoskeletons are classified into three types:

fully robotic;

• for legs.

Modern robotic suits weigh from 5 to 30 kg and more. They are both active and passive (working only at the command of the operator). By design, exoskeletons are divided into military, medical, industrial and space. Let's consider the most remarkable of them.

The most impressive exoskeletons of today

Of course, you won't be able to assemble such exoskeletons with your own hands at home in the near future, but it's worth getting to know them:

• DM (Dream machine)... It is a fully automatic hydraulic exoskeleton that is controlled by the voice of its operator. The device weighs 21 kg and is capable of supporting a person weighing up to a centner. So far, it is used for the rehabilitation of patients who cannot walk due to diseases of the central nervous system or other neuromuscular diseases. The approximate cost is 7 million rubles.
• Ekso GT... The mission of this exoskeleton is the same as that of the previous one - it helps people with pathologies of the motor functions of the legs. The characteristics are similar to the previous one, the price is 7.5 million rubles.
• ReWalk... Designed to give movement to people with lower limb paralysis again. The device weighs 25 kg and can work without recharging for 3 hours. The exoskeleton is available in Europe and the United States in an amount equivalent to 3.5 million rubles.
• REX... Today this device can be bought in Russia for 9 million rubles. The exoskeleton gives people with leg paralysis not only independent walking, but also the ability to stand / sit, turn, walk "moonwalk", go down stairs, etc. REX is controlled by a joystick and is capable of operating without recharging all day.
• HAL (Hybrid Assistive Limb)... Available in two versions - for arms and for arms / legs / torso. This invention allows the operator to lift 5 times the weight limit for a person. It is also used for the rehabilitation of paralyzed people. This exoskeleton weighs only 12 kg, and its charging is enough for 1.0-1.5 hours.

DIY Exoskeleton: James Hacksmith Hobson

The first and so far the only person who managed to design an exoskeleton in an out-of-laboratory environment is a Canadian engineer James Hobson. The inventor has assembled a device that allows him to freely lift 78-kilogram cinder blocks into the air. His exoskeleton works on pneumatic cylinders, which supply energy to the compressor, and the device is controlled using a remote control.

The Canadian does not keep his invention a secret. How to assemble an exoskeleton with your own hands following his example, you can find out on the engineer's website and on his YouTube channel. Note, however, that the weight lifted by such an exoskeleton rests solely on the operator's spine.

Do-it-yourself exoskeleton: an approximate diagram

There are no detailed instructions on how to easily assemble the exoskeleton at home. However, it is clear that it will need:

• frame, characterized by strength and mobility;
• hydraulic pistons;
• pressure chambers;
• vacuum pumps;
• source of power;
• durable tubes that can withstand high pressure;
• computer for control;
• sensors;
• software that allows you to send and convert information from sensors for necessary work valves.

How this composition will work approximately:

1. One pump should increase the pressure in the system, the other should decrease it.
2. The operation of the valves depends on the pressure in the pressure chambers, the increase / decrease of which will control the system.
3. The location of the sensors (against the movement of the limbs): six - arms, four - back, three - legs, two feet (more than 30 in total).
4. The computer software must eliminate pressure on the sensors.
5. The sensor signals must be subdivided into conditional (information from them is useful if the unconditional sensor does not "speak" about the pressure it is experiencing) and unconditional. The convention / unconditionality of these elements can be determined, for example, by an accelerometer.
6. The exoskeleton's arms are three-fingered, separated from the operator's wrist, to prevent injury and provide added strength.
7. The power source is selected after assembly and trial testing of the exoskeleton.

So far, only in the field of rehabilitation, they are already beginning to enter our life. Inventors appear who are able to build such a device outside the laboratory. It is quite possible that in the near future any student will be able to assemble the Stalker exoskeleton with his own hands. It is already possible to predict that such systems are the future.

Exoskeletons that help the paralyzed walk, make hard work easy, protect the soldiers on the battlefield and give us superpowers.

1. Activelink Power Loader

Named after the famous Alien exoskeleton, the Activelink Power Loader is designed to ease the heavy manual labor of a wearer, regardless of age, gender or size, and is designed to “create a society without limits,” according to an Activelink press release. a subsidiary of the famous Japanese electronics manufacturer Panasonic.

2. HAL

HAL (Hybrid Assistive Limb) is a mechanical exoskeleton from Japan developed by Cyberdine Inc. (yes, yes, just like the guys who started it all in Terminator), was created as a prototype in 1997, and is now used in Japanese hospitals to help seriously ill patients in their daily activities. It is also known that HAL was used by Japanese builders and even rescuers during the elimination of the Fukushima-1 accident in 2011.

3. Ekso Bionics

14. Project "Walk Again"

The 2014 FIFA World Cup in Brazil was opened by Juliano Pinto, paralyzed from the waist down, he was given the right to hit the first World Cup ball. This is made possible by an exoskeleton connected directly to his brain, developed by Duke University. The event is part of the "Walk Again" project, created by a 150-person team led by renowned neuroscientist and leading figure in the brain-machine interface, Dr. Miguel Nicolelis. Juliano Pinto just thought that he wanted to kick the ball, the exoskeleton recorded the activity of the brain and activated the mechanisms necessary for movement.