https://github.com/johassel/exo_ui

Exoskeleton UI (TU Berlin RISE SoSe 2023)
https://github.com/johassel/exo_ui

3d-printing exoskeleton microcontroller teensy ui-design

Last synced: about 10 hours ago
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Exoskeleton UI (TU Berlin RISE SoSe 2023)

• Host: GitHub
• URL: https://github.com/johassel/exo_ui
• Owner: JoHassel
• License: mit
• Created: 2024-12-26T18:19:12.000Z (14 days ago)
• Default Branch: main
• Last Pushed: 2024-12-26T19:36:48.000Z (14 days ago)
• Last Synced: 2024-12-26T20:25:40.054Z (14 days ago)
• Topics: 3d-printing, exoskeleton, microcontroller, teensy, ui-design
• Language: C
• Homepage:
• Size: 22 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# RISE UI - Exoskeleton UI ([TU Berlin RISE SoSe 2023](https://blogs.tu-berlin.de/mt_rise/en/home/))

  

  Fig.1 - Main UI 

 

## Project

* development of an UI for a 4-DOF lower limb exoskeleton

* UI contains 2 parts:

1. **Main UI** (communication to exo main controller via WiFi, see Fig.1)

2. **SACU** ("Single Actuator Control Unit") for manual control of actuators (see Fig.5)

## Firmware 

* UI Control with [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)

* WiFi Connection with [ESP32 Adafruit Airlift](https://www.adafruit.com/product/4201)  

* programming via PlatformIO

### Structure

* see [Code/Flow_Chart](Code/Flow_Chart) for detailed code structure




* 2 buttons: TOGGLE button + SELECTION button

* 6 modes: WALK, SIDE STEP, STAND UP, SIT DOWN, UPSTAIRS, DOWNSTAIRS

* if last selection was SIT DOWN: only STAND UP as next mode possible

* if exo in standing position: every mode except STAND UP possible 




  

  Fig.2 - Modes Exoskeleton 

 







## EDA

* Schematics with Eagle 9.6.2

* SPI Communication Interfaces for Teensy-to-Wifi Module and Teensy-to-LCD  

### Components

* [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)

* [Adafruit Airlift](https://www.adafruit.com/product/4201)

* [Piezo transducer](https://www.reichelt.com/de/en/shop/product/piezo_transducer_85_db_4_khz-35927) for acoustic feedback when mode is selected

* [2.4 inch LCD Display](https://www.waveshare.com/2.4inch-lcd-module.htm)

* [5000mAh Powerbank](https://www.intenso.de/produkte/powerbanks/xs5000-xs10000-xs20000/) for 5V power supply

* [Vibration Motor](https://www.reichelt.de/de/de/shop/produkt/dc-vibrationsmotor_3v_80ma_10000rpm-330549) for vibration feedback when toggling --> vibration with current from Teensy is too low, use [relay](https://www.christians-shop.de/1-Kanal-5V-Relay-Relais-Modul-10A-250VAC?gQT=1) + 5V powerbank instead

* LED @SACU: on when SACU on, blinking when motor active




  

  Fig.3 - Block Diagram Main UI 

 










  

  Fig.4 - Block Diagram SACU 

 







## 3D 

  

  Fig.5 - 3D-printed SACU case