Design in Exoskeleton Software for Lifting 50 Kg

Abstract

The design of the exoskeleton HEXO is based on movements required by a per-son to walk and to lift heavy weight objects. This design contemplates just one required Degrees of Freedom (DOF) in each joint to complete these tasks. The design includes servo linear actuators to generate the translation of user and lift-ing required forces, because their nominal rate force is convenient in each action and were located to work without interfere with the normal performance of other limbs. Rotational servo actuators offered in the market were analyzed and includ-ed in a very first design, but they demonstrated to be non-convenient because their low generated torque and their overwhelming size that would increase the HEXO´s weight and interfere the desirable performance. Within de mechanical system design is included the charge analysis in main parts, those that would support all the structure and heavy object weight. This analysis is made into the most critical performed position. It also shows mass center for a stability analysis in the HEXO´s walking most critical positions. Control design of the HEXO is shown in a flow chart to follow by linear servo actuator activation in each limb, into walking and lifting tasks, it includes the conditional and final position to reach.