Affordable Exoskeleton Arm (Exoarm)

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Affordable
Exoskeleton
Arm
(ExoArm)
An affordable Exoskeleton Arm (ExoArm), that will help
elderly, disabled people and workers complete
everyday tasks with less exhaustion.
Kristjan Berce
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Description Details Files 1 Components 15 Logs 11 Instructions 0 Discussion 39
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19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.io
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Kristjan Berce
Jan Likar
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Youtube
Imgur Tutorial
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HARDWARE
ONGOING PROJECT
ARDUINO PROGRAMMING 2017HACKADAYPRIZE EXOSKELETON ASSISTIVE TECHNOLOGY
EEG DESIGN YOUR CONCEPT ROBOTICS
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This project was created on 03/26/2017 and last updated 3 months ago.
DESCRIPTION
I remember watching my grandmother struggling when moving heavy things around when I
was younger. So when I was 15, I had big plans on making an exoskeleton arm that would help
her. I had a notebook filled with sketches and designs (I turned whole house upside down to
find it but I think it's lost) of the ExoArm using buttons and no microcontroller. Good times.
Now that I'm older, I have a new goal. The goal is that people who can't afford to buy those
expensive exo-arms, have a chance of making one by themselves. From scratch, with little to
no money. I've received many mails from people from third world countries that will try and
make one by themselves! And this is so awesome!
So until the end of this competition, I will focus all my work into making this arm little more
user-friendly and practical to use.
All the best!
Kristjan B.
DETAILS
Update that is also included in Project Logs, but I'll put it here non the less.
Intuitive Exoskeleton (ExoArm) Control Update
First prototype is complete!
Exo-Skeleton Robotic Arm for $100
How to make it:
How to make: an Exo-Skeleton Arm for…

How to make: an Exo-Skeleton Arm for…
Measurements are not defined because until the arm is "universal size" the lengths vary from
person to person. So the best act will be that you measure your own arm and use those
measurements.
FILES
ExoArm_test1.ino
Please ignore all the trash in the code. It works, but not really. I mean, I know what it
does, but don't expect that you will, because it's really all over the place. If you have
any questions, feel free to ask and I'll try to help as much as I can!
ino - 3.17 kB - 08/03/2017 at 19:58
COMPONENTS
1 × Strain Gauge with Load Cell Amplifier

https://www.ebay.com/sch/i.html?
_odkw=strain+10kg&_osacat=0&_from=R40&_trksid=p2045573.m570.l1313.TR0.TRC0.H0.Xpressure+sensor+10k.TRS0&_nkw=
pressure+sensor+10kg&_sacat=0
1 × Aluminum 4 x 30 x at least 2000mm
1 × Long wires
1 × Potentiometer
1 × Li-Po battery 3S 5500mAh

https://hobbyking.com/en_us/multistar-high-capacity-3s-5200mah-multi-rotor-lipo-pack.html
View all 15 components
PROJECT
LOGS

Schematics
Kristjan Berce • 10/21/2017 at 12:51 • 0 comments
A schematics. I never got to make a PCB, but that doesn't mean you shouldn't. It's actually
very easy, as you can see that there are no resistors, diodes etc.
For components and links go to PARTS LIST.
SOFTware
Code? Well if I knew how to make a good program that runs it.. I spoke to a friend of mine that
is extremely good in electronics and programming, and he said that the most optimal solution
to intuitive control would be to insert strain gauge in your bones. But in this world that is not
possible and probably never will be. So there's that.
See, the problem is that the ExoArm must read the weight of object you lift before it even tries
to assist you in lifting. And that is so hard. So hard. Weight changes depending on the angle of
fore arm, how your arm is angled in respect to earth, etc. I'm not saying it's impossible, but it
would really take some time to make this happen.
SO if you are looking to make one yourself, and are not that good in programming you should
just use 2 buttons. It's astronomically easier.
MUSCLE SENSOR:
Short answer. No. Why? Because.
Just kidding. I tried using it and it did not work as I thought it will. Not even a bit. See the
problem is that when you put the electrode on your biceps, you can trigger it just by
stretching your skin. it causes so much electricity that it false triggers and device thinks that
you send a muscle signal. So when the Exo-Arm is fastened to your arm, the belt will stretch
your skin, especially at the biceps. What happens? Exo-Arm flexes, but does not let go,
because it thinks you're still sending signals to the biceps when the only signal is your
stretched skin, if that makes any sense.
Where to put all electronics?
I spend so much time trying to come up with a decent place. Perhaps a good starting point
would be a little "backpack thingy" that sits on your shoulder or maybe even a small
backpack. See the problem are batteries. They are rather heavy and make things difficult. We
must also keep in mind that this should be as low cost as possible, so no fancy ExoBacks or
similar things.
HARDware
This are all the wooden and aluminum parts you'll need, minus the mounts that hold wood
plates (check out the videos). Please keep in mind that there are no holes. But why Kristjan?
Because I'm 99.9999% sure that every motor you'll find has different geometry, every arm is
different and it goes on. So in order to make this arm, you'll need to be creative. You can
follow my instructions as far as you can, but I can promise you that you'll have to figure things
on your own too. But hey! That's all part of experience and that is the most valuable thing in
life next to health and knowledge.
View all 11 project logs
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DISCUSSIONS
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std0513339 wrote 03/22/2019 at 03:15
Sir, can you please send the aurdino code for this project?
Julian Aguilar wrote 03/13/2019 at 22:37
can you send the code please
alexboxgomez wrote 02/27/2019 at 03:29
friend a question, how long does the battery last in your exobrazo? Do you
consume too much?
Dc.92 wrote 01/20/2019 at 14:24
Could i suggest thermoelectric energy, it is inexpensive, light weight and packs

a punch
shwetakhaire5678 wrote 01/18/2019 at 05:59
Sir can u send the Arduino code for this project ??
keerthubhojan3007 wrote 01/02/2019 at 15:40
Sir, can you please send the aurdino code for this project?? I'll be grateful to
you if you send the code sir
borayunusoglu wrote 11/25/2018 at 17:11
can you send me again arduino code
austinsusa26 wrote 05/25/2018 at 15:09
Would it be okay if i tried to made some of these and sell them to help pay for
college?
rrohi46 wrote 05/10/2018 at 16:46
i need this project, can i buy from you, please reach me rrohi46@gmail.com
rrohi46 wrote 05/10/2018 at 16:47
please reach me, its urgent
Sebastian wrote 02/02/2018 at 19:55
Hey. I am currently working on my capstone project and I want to build a

robotic therapeutic arm support, and your mechanical arm looks like a great
start for my project. I just have a few questions about the potentiometer and
the strain gauge. I really dont know how they work and how they are
connected. Thanks! :)
nikki.london2030 wrote 10/19/2017 at 22:42
Sorry I forgot to add a suggestion to use aluminum instead of steel as another

option for light weight
Kristjan Berce wrote 10/21/2017 at 10:40
Check out your messages! :)
Comments for exoarm:
1. Could you consider using acrylic sheet instead of steel to make it lighter
2. Would it be possible make/sew up a pouch to house all electronic cables at

the back
3. You could consider making adjustable length of the arm by having it moving
up and down along 2 strips of plastic with holes and a pin to lock in suitable or
chosen position. Forgive me if I am not describing it well here.
Sorry I dont have the electronic knowledge to have input.
Hi. I am very impressed. I am not an engineer. I am carer and I have one

pledge to you and the community of exoskeleton to build a device to help my
Mum to stand up. She had multiple strokes which caused her left arm paralysis.
She has some sensation but could not lift arm or left leg. The NHS wrote her
off. I know if I can get Mum to stand up I can start re-train her to walk again.
Can you all please help me. I have a small fund for this project. If you can
please contact me nikki.london2030@gmail.com
I can see the arm of this project can be useful for me to pick Mum up (43Kg)
from bed to wheelchair in situation that the hoist is out of order or when the
hoist is not able to reach her at floor level (which happened yesterday when
she slipped and I had to pick her up with my two arms- I am only small 5 ft
60kg). Thanks a million for reading and hope you can help. Regards.
saadahlufdy19 wrote 09/27/2017 at 04:23
what is the value of the strain gauge that youre using just now for this project
Conor wrote 08/25/2017 at 14:08
what's the green board next to the arduino duo?
It's the motor driver :)
pafgomes wrote 08/15/2017 at 00:39
Hi,
Congrats on the project. Makes a lot of sense to me. Here to help where I can.
Some open thoughts:
Have you considered using a linear motor based on screw-and-nut or

ballscrew, to move the arm? The angle of the screw will autoblock the
movement. The stepper motor will move it precisely in both directions. The
angle on the screw an the friction coeficient will control the amount of weight
you can load. You can use the muscle detectors (or two strain gauges) to
trigger motion in both ways.
From an ergonomic point of view, consider increasing the connection points to

the torso. I know it makes the arm harder to put on, but consider that if you
load 10kg at the end of the arm, you will apply a considerable torque to the
back. You might cause a back injury. The user will not be used to lift those
loads, hence weak back...
hope this helps. What kind of help do you need?
Keep up the good job!
Paulo
Hey! sorry for the late reply!
Linear motor was my first option, however they are slow and expensive.
Yes, my next goal is to make something useful for the back, because it's
kinda frustrating to wear only exoarm, without any support.
mikey wrote 08/01/2017 at 22:12
Hi,
Are you able to give a diagram on how you set up the arm, current parts used,
and current code (current arm with the strain gauge). Imma build one for a
project :)
Many thanks, Mike
dnetford wrote 07/01/2017 at 03:31
Hello. This is a great project. Im mechanical enginner from venezuela, About

the auto calibration of the weight you need.
I think you need to set the arm with this logic:
If
you carry a weigh that displace the hand Y amound of length it is
directly proportional to the force that cause the displacement. So, the
sensor need to be at 0º and you have to keep in that position. With the
displacement value you can switch on the motor an it will apply the
correct charge of energy to keep the wight lifted in the desire
position.
Thanks! Yes I had a similar idea in mind. Will try to implement this in the
code soon :)
PflegeRitter wrote 07/01/2017 at 03:07
Beautyful idea. I was searching around for some Input. Im a Nurse and i am
about to build a similar device for a Patient. Great Inspiration.Ty<3
Thanks! It's good to hear that this project gives ideas and inspirations to
other people :)
Olaf Baeyens wrote 06/29/2017 at 20:27
Don't forget safety features, you don't want it to break someones arm when a
sensor or bad wiring gives faulty data.
It's not said in the videos directly, but if you look at the junction of fore arm,
upper arm and where they are fastened to the motor, you can see that the
upper arm limits extention of the fore arm. (Video).
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19/7/2019 Affordable Exoskeleton Arm (ExoArm) | Hackaday.

Follow project Like project

Join this project

48.8k 39 367 299

Description Details Files 1 Components 15 Logs 11 Instructions 0 Discussion 39

48.8k 39 367 299

ARDUINO PROGRAMMING 2017HACKADAYPRIZE EXOSKELETON ASSISTIVE TECHNOLOGY

EEG DESIGN YOUR CONCEPT ROBOTICS

Hackaday.com Tip Line

All the best!

Intuitive Exoskeleton (ExoArm) Control Update

First prototype is complete!

Exo-Skeleton Robotic Arm for $100

How to make it:

How to make: an Exo-Skeleton Arm for…

1 × Strain Gauge with Load Cell Amplifier

1 × Aluminum 4 x 30 x at least 2000mm

1 × Li-Po battery 3S 5500mAh

View all 15 components

For components and links go to PARTS LIST.

Short answer. No. Why? Because.

Where to put all electronics?

View all 11 project logs

Log In or become a member to leave your comment

Log In/Sign up to comment

std0513339 wrote 03/22/2019 at 03:15

Julian Aguilar wrote 03/13/2019 at 22:37

can you send the code please

alexboxgomez wrote 02/27/2019 at 03:29

Dc.92 wrote 01/20/2019 at 14:24

Could i suggest thermoelectric energy, it is inexpensive, light weight and packs

shwetakhaire5678 wrote 01/18/2019 at 05:59

Sir can u send the Arduino code for this project ??

keerthubhojan3007 wrote 01/02/2019 at 15:40

borayunusoglu wrote 11/25/2018 at 17:11

can you send me again arduino code

austinsusa26 wrote 05/25/2018 at 15:09

rrohi46 wrote 05/10/2018 at 16:46

rrohi46 wrote 05/10/2018 at 16:47

please reach me, its urgent

Sebastian wrote 02/02/2018 at 19:55

Hey. I am currently working on my capstone project and I want to build a

nikki.london2030 wrote 10/19/2017 at 22:42

Sorry I forgot to add a suggestion to use aluminum instead of steel as another

Kristjan Berce wrote 10/21/2017 at 10:40

Check out your messages! :)

nikki.london2030 wrote 10/19/2017 at 22:31

Comments for exoarm:

2. Would it be possible make/sew up a pouch to house all electronic cables at

Sorry I dont have the electronic knowledge to have input.

nikki.london2030 wrote 10/19/2017 at 22:19

Hi. I am very impressed. I am not an engineer. I am carer and I have one

saadahlufdy19 wrote 09/27/2017 at 04:23

Conor wrote 08/25/2017 at 14:08

what's the green board next to the arduino duo?

Kristjan Berce wrote 08/26/2017 at 15:03

It's the motor driver :)

pafgomes wrote 08/15/2017 at 00:39

Have you considered using a linear motor based on screw-and-nut or

From an ergonomic point of view, consider increasing the connection points to

hope this helps. What kind of help do you need?

Keep up the good job!

Kristjan Berce wrote 08/26/2017 at 15:05