2022-2023
Wearable Lifting-ASSISTIVE Device
Design REVIEW Fall '22
The team is developing a device that assists persons with limited upper-body muscle capacity
OVERVIEW
Features
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forearm/bicep cuffs
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aluminum bar linkage
Anticipated Features
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thread-assisted motor for adding/releasing tension
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bump switch/limit switch/remote for control
THE CUFF
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attachment point and security
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material : Elastic 50A Resin
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allows for flexibility
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slits to hold linkage bar(s)
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holes for threading string
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Velcro™ to fasten to wrist/bicep
THE FIRMWARE
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Zephyr Linux
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Lightweight fast RTOS, provides standard hardware interfacing libraries
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C programming language
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Firmware complied and flashed to the RPi Pico
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RPi Pico as a “Picoprobe” device to debug code, and as a flashing device
THE MOTOR
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RPi Pico Microcontroller
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Small and lightweight. Still powerful enough to act as motor controller
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L293D used as motor driver IC
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Allows for variable voltage to be supplied and simple dual H-bridge solution
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Battery powered
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Bipolar Stepper Motor
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Allows for holding torque to be applied, precision movement
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Design REVIEW SPRING '23
THE MINIMUM VIABLE PROTOTYPE
The team's first prototype of the device utilizes Velcro technology to allow for easy attachment and adjustment. With the conclusion of the semester, the team was able to get a single trial run with the motor and battery system hooked up to the device; a tug on the thread was achieved.
In the coming semesters, the team will be working towards enhancing the prototype with several goals in mind:
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Improve attachment of pulley to motor to improve effective torsional force
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Toy with different wearable enclosures for battery and controller
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Begin implementation of software controlling torsional force provided by motor
MOTOR ENCLOSURE​
PULLEY (FOR THREAD)​
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CUFF 2.0
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Minimized material/material cost (~80%)
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New attachment mechanism
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device effortlessly attaches to Velcro wraps on arm​
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adjustable fit
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more comfortable
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