Create an open-source, low-cost and mostly 3D-printed arm/leg exoskeleton module that senses a person's motion and use string-and-capstan actuation to stabilize the arm during intricate tasks and help the leg to lift heavy objects.
This project aims to create a comfortable exoskeleton module that attaches to the arm and leg, tracks movement with sensors, and assists the movement of the arm and leg through a lightweight string-and-capstan drive. On the arm, the focus is tremor stabilization of the arm for intricate tasks. On the leg, the module provides torque assistance to share load during lifts. The current phase is a bench-top robotic arm/leg to validate sensing, control loops, and capstan mechanics before moving to a wearable frame. Next steps include ergonomic mounts, safe cable routing, torque/velocity limits with an E-stop, and integrated battery/power.