Hip Exoskeleton Research

Goal: Biomechanically-Informed Torque Control for Hip Exoskeleton Performance Enhancement

The overarching goal of this research is to develop a highly effective torque control strategy for a hip exoskeleton. This strategy aims to achieve a dual objective: first, to minimize the metabolic cost for the user during locomotion, thereby improving energy efficiency and reducing user exertion; and second, to maximize user preference by ensuring the exoskeleton assistance feels natural, comfortable, and effectively supports their intended movements. Achieving this balance is crucial for creating wearable robotic systems that are not only energy-efficient but also seamlessly integrated and accepted by users, promoting wider adoption and real-world impact in areas such as rehabilitation, mobility assistance for elderly or individuals with disabilities, or even human performance augmentation in industrial/logistics settings. This goal necessitates a deep understanding of biomechanics, robust data acquisition, and advanced control algorithms.

Problem Statement:

Data was not properly labeled and downloaded in the format needed by the model.

Skills Applied

• Python
• Sorting and Labeling Algorithms
• Feature Engineering

My Contribution: Optimizing Motion Capture Data Quality through Marker Placement Refinement and Algorithmic Data Cleaning

Recognizing the limitations imposed by the initial marker placement, my primary contribution was to address the suboptimal marker configuration proactively. This involved two key actions:

Development of a Data Sorting and Cleaning Algorithm: To further enhance data quality and address potential artifacts or noise inherent in motion capture data, I designed and implemented a custom data sorting and cleaning algorithm. This algorithm coded in Python interpolation methods, filtering techniques, outlier detection methods within the algorithm]. This algorithm ensured that the motion capture data was of sufficient quality for subsequent biomechanical analysis and model training.

Goal2: Minimize Circuits

Enhanced Hip Exoskeleton Efficiency through Electrical System Optimization.

Problem Statement

Excessive Circuit Wiring Weight Limiting Exoskeleton Mobility and Efficiency.

Skills Applied

• Circuit Design & Analysis
• Electrical System Optimization
• Soldering & Crimping (Prototyping)

My Contribution

Redesigned and simplified exoskeleton wiring harness, achieving a 30% circuit weight reduction through optimized routing and component selection.

Result

Significantly Improved Exoskeleton Mobility and Responsiveness.

Connection between the JETSON and the T-motors with CAN transceiver using Dupont ConnectorsConnection with CAN transceiver.

Connection of the body wiring in the hip exoskeleton.