Courses / wearable

Exoskeleton Design & Control

advanced~9 hours12 lessons

Prerequisites: wr1-biomechanics-of-assistance

Start: Rigid, soft, and in between: the design spacePractice questions

Modules

Module 1 — Architectures
  1. 1Rigid, soft, and in between: the design space
  2. 2Which joint, which motion: choosing what to assist
  3. 3Anatomy of an open exoskeleton: the OpenExo reference
Module 2 — Actuation for wearables
  1. 1Sizing the SEA: torque, speed, and the spring dial on a worn joint
  2. 2Motors, gears, and batteries: the wearable power budget
  3. 3Electronics for wearables: the pointer course and what to take from it
Module 3 — The control stack, worn
  1. 1Gait-phase estimation: knowing where in the rhythm you are
  2. 2Assistance profiles: shaping torque against the estimated phase
  3. 3Transparency and mode logic on a worn device
Module 4 — Fielding
  1. 1pHRI safety, applied: the wearable's envelope and monitor
  2. 2Fit, trials, and the human protocol
  3. 3Low-resource deployment: engineering for affordability and repairability