RISE UI - Exoskeleton UI (TU Berlin RISE SoSe 2023)

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
• WiFi Connection with ESP32 Adafruit Airlift
• programming via PlatformIO

Structure

• see 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
• Adafruit Airlift
• Piezo transducer for acoustic feedback when mode is selected
• 2.4 inch LCD Display
• 5000mAh Powerbank for 5V power supply
• Vibration Motor for vibration feedback when toggling --> vibration with current from Teensy is too low, use relay + 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