Exo Skelton

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON
CHAPTER 1
INTRODUCTION
1.1
INTRODUCTION
In medicine, a coma [1] is a state of unconsciousness lasting more than six hours,
in which a person cannot be awakened; fails to respond normally to painful stimuli, light,
or sound; lacks a normal sleep-wake cycle and does not initiate voluntary actions. A
person in a state of coma is described as being comatose.
For a patient to maintain consciousness, two important neurological components
must function. The first is the cerebral cortexthe grey matter that covers the outer layer
of the brain. The other is a structure located in the brainstem, called reticular activating
system (RAS). Injury to either or both of these components is sufficient to cause a patient
to experience a coma.
Traumatic brain injury [2] can cause a variety of complications, health effects that
are not TBI themselves but that result from it. The risk of complications increases with
the severity of the trauma; however even mild traumatic brain injury can result in
disabilities that interfere with social interactions, employment, and everyday living.
Coma may result from a variety of conditions like
1. Intoxication (such as drug abuse, overdose or misuse of over the counter
medications, prescribed medication, or controlled substances).
2. Metabolic abnormalities
3. Central nervous system diseases
4. Strokes , Head trauma caused by vehicle injuries
5. Deliberately induced by pharmaceutical agents during major neurosurgery, to
preserve higher brain functions following brain trauma, or to save the patient from
extreme pain during healing of injuries or diseases.
6.
Lack of oxygen resulting from cardiac arrest

TBI
may
cause
emotional
or
personality. Emotional
symptoms
that
behavioural
can
problems
follow
TBI
and
include
changes
in
emotional
instability, depression, anxiety, hypomania, mania, apathy, irritability, and anger. TBI
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appears to predispose a person to psychiatric disorders including obsessive compulsive
disorder, alcohol or substance abuse or substance dependence, clinical depression, bipolar
disorder, phobias, panic disorder, and schizophrenia.
Behavioural symptoms that can follow TBI include disinhibition, inability to control
anger, impulsiveness and lack of initiative, inappropriate sexual activity, and changes in
personality. Different behavioural problems are characteristic of the location of injury; for
instance, frontal lobe injuries often result in disinhibition and inappropriate or childish
behaviour, and temporal lobe injuries often cause irritability and aggression.
Complications that result from a coma may be of two types complications during
coma state and complications after recovering the traumatic brain injury (TBI).
Post TBI complications include cognitive disabilities like
memory loss
post traumatic amnesia
communication problems
sensory deficits
emotional and behavioural problems
post traumatic ellipse
Parkinsons disease etc.
During coma a patient may suffer from pressure sores, pneumonia, progressive
multiple organ failure, muscular degradation and reduced rate of blood flow.
1.2 MOTIVATION
At the present different medications are used to decrease brain swelling, treat
infections, and prevent seizures. If a persons intracranial pressure is very high or difficult
to control, medication may be used to put the person into a medication induced coma to
prevent more swelling.
Some preventive rehabilitation may be initiated in the Intensive Care Unit such as
body positioning, splinting, and range of motion (a therapist moves the persons body
limbs). Sometimes surgery may be necessary to remove blood clots and pressure.
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Anti-Embolism Stockings (TED Hose) are worn on the persons legs to help
prevent embolisms (blood clots) from forming and to assist in circulation of blood and
fluids in the legs. The stockings are long (up to the thighs) and made of tight elastic
material.
Sequential Compression Stockings (Kendalls) are worn on the persons legs to help
prevent blood pooling. These are plastic leg wraps operated by a machine to inflate and
deflate around the persons legs.
1.3 AIM OF THE PROJECT

To design and develop a web controlled leg exoskeleton used to assist the blood
circulation and avoid the muscular degeneration in the legs of the comatose and be
extended for physiotherapy. This project presents a new generic technology aiming to
solve two main problems in the comatose i.e. the muscular degradation and the decreased
blood flow rate.
1.4 OVERVIEW OF THE PROJECT

To overcome this problem a mechanical structure is designed which keeps the
muscles alive and makes sure that the rate of the blood flow is not decreased. This being
an electro-mechanical technology avoids intrusion to the body in any sense. The design is
made general such that it and is wearable by people with any foot size and hence reduces
the cost of treatment.
The greatest challenge faced is achieving accuracy in angular control as well as
design the structure for variable foot sizes and shapes. The structure must be
mechanically sturdy and as light as possible. The force to push and pull the foot must be
within permissible limits and the action of the robotic exoskeleton must not cause any
injuries.
Care must be taken in providing the angle of motion as well as the number of
iterations performed by the foot. This is provided by the doctor either manually near the
patient or remotely through a secure webpage. The input angle must not exceed the
physically possible angle of motion of the patients foot. To provide all of these at the
most economic price and greater quality becomes a challenge of its own.
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1.5 CONTRIBUTIONS
This project aims to concentrate on the comatose and the bedridden patients. It
provides a solution to two major problems that are
Muscular degeneration
Lack of blood circulation
It keeps the muscles active by externally exercising the calf muscles and also aids
for the venous shoot of the blood back to the heart. When used in physiotherapy, it
provides energy to weakened muscles thus helping in rehabilitation of the patient. This
device along with the feature of web control provides an immense contribution in the
medical field with a major advantage being that the cost is less than 150 USD.
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CHAPTER 2
LITERATURE SURVEY
2.1 RELATED WORKS
This section gives an overview about the works that run in parallel with the
proposed work. Each of these below mentioned works have different strategies but are not
designed for the coma patients or the bed ridden. The advantages and drawbacks are also
mentioned below. The new devise called cybernetic assistive leg exoskeleton is built
keeping in mind the drawbacks of the related work.
2.1.1 LOPES (LOWER EXTREMITY POWERED EXOSKELETON) ROBOT FOR

INTERACTIVE GAIT CORRECTION
These robots replace the physical training effort of a therapist. This may be useful
in cases where a therapists effort is very intensive leading to limitations in availability or
even injuries. In the general setting of these robotic systems, a therapist is still responsible
for the nonphysical interaction and observation of the patient by maintaining a
supervisory role of the training, while the robot carries out the actual physical inter-action
with the patient. The LOPES robot for interactive gait correction is as shown in Fig.2.1.
Fig 2.1 Model of LOPES
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Thus, the LOPES [3] robot is a combination of an exoskeleton robot for the legs
and an externally supporting end-effector robot for the pelvis. The robot is an exoskeleton
that moves in parallel with the legs of a person walking on a treadmill, at pelvis height
flexibly connected to the fixed world. It allows a selective corrective or supportive torque
to be applied to the leg-joints and the pelvis of patients who are walking on their own
effort.
2.1.2 BLEEX (BERKLEY LOWER EXTREMITY EXOSKELETON)

Heavy objects are typically transported using wheeled vehicles. However, many
environments, such as rocky terrains and staircases, pose significant challenges to
wheeled vehicles. Thus legged locomotion becomes an attractive method of
transportation within these settings, since legs can adapt to a wide range of extreme
terrains. The Berkeley Lower Extremity Exoskeleton shown in Fig 2.2 [4] (commonly
referred to as BLEEX) is the first field-operational robotic system which is worn by its
operator and provides its wearer the ability to carry significant loads on his/her back with
minimal effort over any type of terrain. BLEEX is comprised of two powered
anthropomorphic legs, a power supply, and a backpack-like frame on which a variety of
heavy payloads can be mounted.
BLEEX provides load carrying capability through legged locomotion guided by
human interaction, but instead of actively driving the vehicle, BLEEX shadows the
operators movement as he/she wears it like a pair of artificial legs. By combining the
strength capabilities of robotics with the navigation intelligence and adaptability of
humans, BLEEX allows heavy loads to be carried over rough, unstructured, and uncertain
terrains.
BLEEX is the first energetically autonomous lower extremity exoskeleton capable
of carrying a payload. BLEEX demonstrates to support up to 75 kg (exoskeleton weight +
payload), walk at speeds up to 1.3 m/s, and shadow the operator through numerous
manoeuvres without any human sensing or pre-programmed motions.
LOPES provide unhindered walking in the device and that any torques/forces
needed to impose a gait pattern can be achieved. Also, limb orientations of the robot and
the walking subject agree well, sufficient for stable implementation of training and lower
level control.
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Fig 2.2 Model of BLEEX
LOPES provide unhindered walking in the device and that any torques/forces
needed to impose a gait pattern can be achieved. Also, limb orientations of the robot and
the walking subject agree well, sufficient for stable implementation of training and lower
level control.
The BLEEX method does not concentrate on any kind of patients and the LOPES
concentrate on the patients recovered from the bed ridden state. The hardware required
invisibly very large and the cost of implementation is very high.
2.2 PROPOSED METHODOLOGY

The proposed methodology is to build a generic shaped mechanical structure for
the foot that accepts inputs from a control unit to move the foot in the desired manner. It
also provides flexibility in controlling the method of giving inputs. This method rules out
the problem of weakened nerve endings which result when electric pulses are provided to
activate the muscles since it is a complete mechanical structure. The device is adaptable
and rugged thus provides longevity. The key concepts used in the project is as follows
Scotch Yoke mechanism This is a simple method of converting circular motion to
linear motion or vice versa. To move the foot front and back this method becomes very
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helpful since it converts the circular motion of the servo motor to linear motion of the
shaft that connects to the foot. In this method the (DOF) degree of freedom is restricted to
one by the holders on the side of the connecting shaft.
Pulse Width Modulation (PWM) Pulse Width Modulation, or PWM, is a technique for
getting analog results with digital means. Digital control is used to create a square wave, a
signal switched between on and off. This on-off pattern can simulate voltages in between
full on (5 Volts) and off (0 Volts) by changing the portion of the time the signal spends on
versus the time that the signal spends off. The duration of "on time" is called the pulse
width.
Servo control The servo motor is controlled by a train of pulses having a particular
period. The Ton time of the pulse determine the angular position of the servo shaft. A
standard servo motor with a voltage specification of 5V requires a pulse width of 1.5ms to
rotate to 90o position while keeping a period of 20mS constant.
GPIO control in Raspberry Pi Raspberry Pi consists of 21 general purpose input
output pins [5]. Control and configuration of these pins are of key importance. The
manufacturer of the board decides the pin configuration based on which the libraries to be
invoked in python also differ. These libraries in python help to configure the GPIO pins
as per our requirements.
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CHAPTER 3
WEB BASED CYBERNETIC ASSISTIVE LEG

EXOSKELETON
This chapter describes the block diagram with the necessary hardware components
and their specifications. The block diagram consist of a Raspberry Pi acting as control
unit , inbuilt PWM module, buffer circuit , servo motor or the actuator along with a power
module to power the servo motor. All of these are used to control the foot board strapped
on the patient there by controlling the foot movement. Figure 3.1 shows the block
diagram of the web based cybernetic assistive leg exoskeleton.
Fig 3.1 Block diagram
The inputs to the control unit are the angle at which the foot should move and also
the number of times it should move. The angle input is converted to appropriate pulse
width to get the required angle movement of the foot board while the number of iterations
are directly mapped to the number of times the foot board should move .The resulting
PWM signal from the module is given to the servo motor through the buffer circuit. The
servo when powered using a power module or an adapter providing the necessary current
requirement moves at the angle provided by the user.
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3.1 CONTROL UNIT - RASPBERRY PI

The Raspberry Pi [6] is a credit card sized single board computer developed by the
Raspberry Pi Foundation. It is a capable little computer which can be used for many of
the things that desktop PC does like spreadsheets, playing high definition video etc . Fig
3.2 shows the Raspberry Pi board diagram.
Fig 3.2 Raspberry Pi B model
3.1.1 FEATURES OF RASPBERRY PI
Broadcom BCM2835 system on chip with ARM processor
Clock speed is 700MHz. It can be over clocked to 800MHz
512 MB RAM
It uses SD card for booting and persistent storage
Operating systems supported by Raspberry Pi are Linux, RISC OSand FreeBSD
It provides 2 USB ports via the built in integrated 3-port USB hub
14 HDMI resolution video outputs
10/100 Mbits/s Ethernet USB adapter on third port of the USB hub
21 GPIO pins with multiplexed functions
Power rating of 700mA(3.5W)
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Power source is a 5V microUSB or GPIO header
Size of the board is 85.60 mm 56 mm

The Processor at the heart of the Raspberry Pi is the same processor that is found
in the iPhone 3G and the Kindle 2, so the capabilities of the Raspberry Pi as comparable
to those powerful little devices. This chip is a 32 bit, 700 MHz System on a Chip, which
is built on the ARM11 [7] architecture. ARM chips come in a variety of architectures
with different cores configured to provide different capabilities at different price points.
The Model B has 512MB of RAM and the Model A has 256 MB. (The first batch of
Model Bs had only 256MB of RAM.). The Secure Digital (SD) Card slot is used in Pi
and has no hard drive; everything is stored on an SD Card. There is a need for some sort
of protective case since the solder joints on the SD socket may fail if the SD card is
accidentally bent. On the Model B there are two USB 2.0 ports, but only one on the
Model A. Some of the early Raspberry Pi boards were limited in the amount of current
that they could provide. Some USB devices can draw up 500mA.
The original Pi board supported 100mA or so, but the newer revisions are up to
the full USB 2.0 specifications. The model B has a standard RJ45 Ethernet port. The
Model A does not, but can be connected to a wired network by a USB Ethernet adapter
(the port on the Model B is actually an on board USB to Ethernet adapter). WiFi
connectivity via a USB dongle is another option. The HDMI port provides digital video
and audio output.14 different video resolutions are supported, and the HDMI signal can
be converted to DVI (used by many monitors), composite (analog video signal usually
carried over a yellow RCA connector), or SCART (a European standard for connecting
audio-visual equipment) with external adapters.
Status LEDs: The Pi has five indicator LEDs that provide visual feedback.
Table 3.1 Status LEDs of RPi
ACT
Green
Lights when SD card is accessed
PWR
Red
Hooked up to 3.3V
FDX
Green
On if network adapter if full duplex
LNX
Green
Network activity light
100
Yellow
On if network connection is 100Mbps
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3.2 PWM MODULE

Pulse-width modulation (PWM) [8], as it applies to motor control, is a way of
delivering energy through a succession of pulses rather than a continuously varying
(analog) signal. By increasing or decreasing pulse width, the controller regulates energy
flow to the motor shaft. The motors own inductance acts like a filter, storing energy
during the on cycle while releasing it at a rate corresponding to the input or reference
signal. In other words, energy flows into the load not so much the switching frequency,
but at the reference frequency. The main advantage of PWM is that power loss in the
switching devices is very low. When a switch is off there is practically no current, and
when it is on, there is almost no voltage drop across the switch. Power loss, being the
product of voltage and current, is thus in both cases close to zero. PWM also works well
with digital controls, which, because of their on/off nature, can easily set the needed duty
cycle.
Raspbian provides Raspberry Pi with a library to configure PWM known as

WiringPi. The WiringPi library appears to support both hardware PWM output on one
GPIO pin and software PWM on any of the other GPIO pins. Meanwhile the Raspberry Pi
GPIO.PWM library does PWM by controlling the GPIO pins via Direct Memory Access
controller (DMA). Effectively this is a halfway house between hardware and software
PWM, providing a 1us timing resolution compared to 100us with WiringPis software
PWM. Which of these is suitable for your applications depends on how many PWM
outputs you need and what performance you want out of those outputs. If the application
is tolerant of low timing resolution and high jitter then you could use software or DMA
assisted timing loop. If there is a need for higher precision / lower jitter PWM then you
may need hardware assistance.
When we need to control a servo motor with hard real-time response requirements
then we need to use the Hardware PWM. Even then, there may be problems ensuring a
real-time response for the servo loop which ties encoder input to PWM output. A
stable servo loop needs to read encoders at a regular rate (low jitter), write out revised
PWM output values at a regular rate and the latency between these should be fixed (low
jitter overall) or you will have to under-tune your motor to prevent it becoming unstable
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under load. This is hard to do with a multi-tasking operating system without low level
support.
3.3 74HC245 BUFFER IC

The 74HC245 as shown in Fig 3.3 is a high speed Si-gate CMOS device. It is
octal bi-directional bus interface and has non-inverting 3 states outputs. The values on the
output enable and direction pins decide the direction of input and output. The table below
illustrates the functional description. A low on both output enable and direction will have
the As input passed to B. Figure below shows the pin diagram of 74HC245.
Fig 3.3 Internal circuitry of 74HC245
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Table 3.2 Truth table for 74HC245
INPUT
INPUT/OUTPUT
OE
DIR
An
Bn
A=B
Input
Input
B=A
H=High voltage level

L=Low voltage level
X= dont care
Z= High impedance OFF-state
3.4 ACTUATOR
The actuator part is the mechanical designed part of the project. It helps mimic the
natural action of the foot and keeps the muscles alive. The design is based on the Scotch
Yoke mechanism.
3.4.1 SERVO MOTOR

A servo motor shown in Fig 3.4 has greater number of poles which allows a
stepper motor to move accurately and precisely between each pole and also to be operated
without any position feedback for many applications. It can be controlled by simple Pulse
Width Modulation. In addition, servo motors are quite, available in AC and DC drive, and
do not vibrate or suffer from resonance issues. The most important advantage being that it
is light weighted since the entire hardware with the motor is placed on the subjects leg
and hence the weight of the system should not be more.
3.4.2 FEATURES OF SELECTED SERVO MOTOR
Torque: 9kg @ 4.8v
Weight: 51g
Speed: 0.21 / 60o @ 4.8v
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Voltage: 4.8v~6v
Plug: JR style
Features:
Metal Gears
Dual Ball-race
Fig 3.4 Servo motor
3.5 POWER MODULE

The power module is used to power up the Raspberry Pi and servo motor. Since
the servo is powered from the power module and not from the Raspberry Pi, there is no
back noise flowing from servo to the Raspberry Pi. This module converts the incoming
12V to 5V required to power the Raspberry Pi. It consists of KA7805 regulator, 2.2uF
capacitors, 100Uf capacitors, IN4007 diode and 330ohm resistor.
The KA7805 is a three-terminal positive regulator with several fixed output
voltages, making them useful in a wide range of applications. These employ internal
current limiting, thermal shut down and safe operating area protection, making it
essentially indestructible. If adequate heat sinking is provided, they can deliver over 1A
output current. Although designed primarily as fixed voltage regulators, these devices can
be used with external components to obtain adjustable voltages and currents. Fig 3.5
shows the KA7805 Regulator.
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3.5.1. FEATURES
Output Current up to 1A
Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V
Thermal Overload Protection
Short Circuit Protection
Output Transistor Safe Operating Area Protection
Fig 3.5 KA7805 Regulator
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CHAPTER 4
SOFTWARE AND WEBPAGE DESIGN

The underlying software platforms and their utilization are of key importance
while developing any project. The webpage design and their considerations are given in
the following section for implementation of the proposed system.
4.1 NOOBS
NOOBS stands for New out of the Box Software installer which is an image file
you have to download and copy onto the newly formatted 8 GB SD card. This software
helps to start the Raspberry Pi and gives you list of operating systems to choose from
during installation. This also contains several other software packages which help in the
functioning of the Raspberry Pi.
4.2 RASPBIAN
Raspbian is a Debian-based free operating system optimized for the Raspberry Pi
hardware. Debian uses the Linux kernel (the kernel is the core of an OS) and contains a
wide range of application software and some pre-compiled software bundles.
4.3 HTML & CSS

HTML or Hypertext Mark-up Language is the standard mark-up language used to
create web pages. The purpose of a web browser is to read HTML documents and
compose them into visible or audible web pages. The browser does not display the HTML
tags, but uses the tags to interpret the content of the page. HTML describes the structure
of a website semantically along with cues for presentation, making it a mark-up
language rather than a programming language. HTML elements form the building blocks
of all websites. HTML allows images and objects to be embedded and can be used to
create interactive pages. It provides a means to create structured documents by denoting
structural semantics for text such as headings, paragraphs, lists, links, quotes and other
items. It can embed scripts written in languages such as JavaScript which affect the
behaviour of HTML web pages.
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Cascading Style Sheets (CSS) is a style sheet language used for describing
the look and formatting of a document written in a mark-up language. While most often
used to style web pages and interfaces written in HTML and XHTML, the language can
be applied to any kind of XML document, including plain XML, SVG and XUL. CSS is a
cornerstone specification of the web and almost all web pages use CSS style sheets to
describe their presentation. CSS is designed primarily to enable the separation of
document
content
from
document
presentation,
including
elements
such
as
the layout, colours, and fonts. This separation can improve content accessibility, provide
more flexibility and control in the specification of presentation characteristics, enable
multiple pages to share formatting, and reduce complexity and repetition in the structural
content.
4.4 PYTHON
Python is a widely used general-purpose, high-level programming language. The
language provides constructs intended to enable clear programs on both a small and large
scale.
Python
supports
multiple programming
oriented, imperative programming,
paradigms,
including object-
functional programming or procedural styles. It
features a dynamic type system and automatic memory management and has a large and
comprehensive standard library Like other dynamic languages, Python is often used as
a scripting language.
4.5 NEED FOR SSH

Secure Shell (SSH) is a cryptographic network protocol for secure data
communication, remote command-line login, remote command execution, and other
secure network services between two networked computers. It connects, via a secure
channel over an insecure network, a server and a client running SSH server and SSH
client programs, respectively.
The
best-known
application
of
the
protocol
is
for
access
to shell
accounts on Unix-like operating systems, but it can also be used in a similar fashion for
accounts
on
Windows.
It
was
designed
as
replacement
for Telnet and
other insecure remote shell protocols such as the Berkeley rsh and rexec protocols, which
send information, notably passwords, in plaintext, rendering them susceptible to
interception and disclosure using packet analysis. The encryption used by SSH is
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intended to provide confidentiality and integrity of data over an unsecured network, such
as the Internet.
SSH uses public-key cryptography to authenticate the remote computer and allow
it to authenticate the user, if necessary. There are several ways to use SSH; one is to use
automatically generated public-private key pairs to simply encrypt a network connection,
and then use password authentication to log on.
Another is to use a manually generated public-private key pair to perform the
authentication, allowing users or programs to log in without having to specify a password.
In this scenario, anyone can produce a matching pair of different keys (public and
private). The public key is placed on all computers that must allow access to the owner of
the matching private key (the owner keeps the private key secret). While authentication is
based on the private key, the key itself is never transferred through the network during
authentication. SSH only verifies whether the same person offering the public key also
owns the matching private key. In all versions of SSH it is important to verify
unknown public keys, i.e. associate the public keys with identities, before accepting them
as valid. Accepting an attacker's public key without validation will authorize an
unauthorized attacker as a valid user.
SSH also supports password-based authentication that is encrypted by
automatically generated keys. In this case the attacker could imitate the legitimate side,
ask for the password and obtain it (man-in-the-middle attack). However this is only
possible if the two sides have never authenticated before, as SSH remembers the key that
the remote side previously used. Password authentication can be disabled.
In our project SSH is performed for two major reasons
Remote login- When SSH is performed, Raspberry Pi it gives us the flexibility of

using the Raspberry Pi over the local area network from a remote location using a
laptop or desktop and execute commands.
Reuse existing resources- To operate a Raspberry Pi we need to connect an USB

keyboard, USB mouse and a monitor. When we perform SSH we can login to the
Raspberry Pi (remotely) using the keyboard, mouse, monitor of the laptop or
desktop from which we are logging in thus reducing the hardware drastically.
Thus the only required hardware is a LAN cable connected to the Raspberry Pi.
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4.5.1 NETSCANNER
It helps in Network scanning which is a procedure for identifying active hosts on a
network. Scanning procedures, such as ping sweeps and port scans, return information
about which IP addresses map to live hosts that are active on the Internet.
4.5.2 RDP (Remote Desktop Protocol)

Remote
Desktop
Protocol (RDP)
is
a proprietary
protocol developed
by Microsoft, which provides a user with a graphical interface to connect to another

computer over a network connection. The user employs RDP client software for this
purpose, while the other computer must run RDP server software.
4.6 Bonjour
Bonjour is Apple's implementation of Zero-configuration networking (Zeroconf),
a
group
of
technologies
that
includes service
discovery, address
assignment,
and hostname resolution. Bonjour locates devices such as printers, other computers, and
the services that those devices offer on a local network using multicast Domain Name
System (mDNS) service records.
Bonjour provides a general method to discover services on a local area network.
The software is widely used throughout OS X, and allows users to set up a network
without any configuration. As of 2010 it is used to find printers and file-sharing servers.
iTunes uses Bonjour to find shared music, iPhoto to find shared photos, iChat,
Adobe Creative
Suite
3, Proteus, Adium, Fire, Pidgin, Skype,
Vine
Server,
and Elgato EyeTV to share local recordings with multiple clients, the Gizmo5 to find
other users on the local network, TiVo Desktop to find digital video recorders and sharedmedia libraries, SubEthaEdit and e to find document collaborators, Contactizer to find
and share contacts, tasks, and events information, and Things & OmniFocus to
synchronize projects and tasks across the Mac desktop and the iPad, iPhone or iPod
touch. It is used by Safari to find local web servers and configuration pages for local
devices, and by Asterisk to advertise telephone services along with configuration
parameters to VoIP phones and dialers. Software such as Bonjour Browser or iStumbler,
both for Mac OS X, or Zeroconf Neighbourhood Explorer for Windows, can be used to
view all services declared by these applications. Apple's "1Remote" application for
iPhone and iPod Touch also uses Bonjour to establish connection to iTunes libraries via
Wi-Fi.
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Bonjour only works within a single broadcast domain, which is usually a small
area, without special DNS configuration. Mac OS X, Bonjour for Windows
and AirPort Base Stations may be configured to use Wide Area Bonjour which allows for
wide area service discovery via an appropriately configured DNS server.
Applications generally implement Bonjour services using standard TCP/IP calls,
rather than in the operating system. Although Mac OS X provides various Bonjour
services, Bonjour also works on other operating systems. Apple has made the source code
of the Bonjour multicast DNS responder, the core component of service discovery,
available as a Darwin open source project. The project provides source code to build the
responder daemon for a wide range of platforms, including Mac OS 9, Mac OS X, Linux,
*BSD, Solaris, VxWorks, and Windows. Apple also provides a user-installable set of
services called Bonjour for Windows and Java libraries. A number of Windows programs
use
Zeroconf,
including Adobe
Systems Creative
Suite
3,
iTunes,
Cerulean
Studios' Trillian Pro 3, Ruckus Music.
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CHAPTER 5
ELECTRICAL AND MECHANICAL DESIGN

REQUIREMENTS
5.1 MECHANICAL DESIGN
As we are developing a mechanical structure for the motion of the foot for coma
patients or otherwise patients who are bedridden or in intensive care, the structure must
be sturdy. The material used must not cause any rashes or sores, the device must be such
that it is easily put on the foot or removed, it should be as light as possible and must also
be applicable to variable foot sizes and shapes. This poses a challenge in terms of design.
5.1.1 DESIGN SPECIFICATIONS

The greatest challenge of the design is that the exoskeleton must be wearable for
any type of foot, irrespective of age, gender or shape of the leg. Furthermore, the
flexibility of the feet varies from person to person. For comatose patients there is a loss of
flexibility in the various joints and weakening of the muscles in the legs as well as
chances of swelling in the feet. Keeping these restrictions in mind the design of the
mechanical structure of the exoskeleton becomes complex.
As per the requirements of the doctor:
The total angular motion of the feet must be in the range of 40 to 50 degrees.
The total weight of the exoskeleton should not exceed 2 Kg.
The foot should only have one degree of freedom for its motion.
Accurate angular control up to 5 degrees.
Fasteners for variable foot sizes.
Durability.
The torque while pushing or pulling the foot must not exceed the permissible
limit.
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5.1.2 SCOTCH YOKE MECHANISM

The Scotch Yoke mechanism shown in Fig 5.1, also known as the slotted link
mechanism is a reciprocating motion mechanism , converting the linear motion of the
slider to rotational motion or vice versa. The servo motors shaft is connected to a disc of
calculated radius. The stub point on the disc moves inside a linear grid and there by
converts a circular motion into linear motion. The ends of the linear shaft of the grid are
restricted for a 1D motion. Figure below shows the pictorial view of the mechanism. It
has many advantages over standard crankshaft and connecting rod mechanism like higher
torque operation with smaller cylinder size, smother operation. The speed of motion
follows that of a sine wave with the speed reaching a maximum at the middle of the travel
and momentarily coming to a complete stop at each end of the travel.
Fig 5.1 Scotch Yoke mechanism design
5.1.3 SCOTCH YOKE MECHANISM DESIGN

The Scotch Yoke mechanism, [9] though simple compared to other techniques
involves lot of calculations. To calculate the scotch yoke travel, the pin must rotate at a
diameter of the total displacement required. Considering the ankle bone (malleolus) as the
centre of the arc and radius as the average height of the foot from that point, the
displacement can be calculated which provides the required angular movement. Fig 5.2
shows the side view of Scotch yoke mechanism. Let S be the displacement and hence
the diameter of the path of the pin to be found. The radius of the pin is referred to as
crank. Therefore, S can be written as,
S= twice the length of the crank.
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Let r be the distance from the malleolus bone to the tip and let be the total
angle specified by the doctor for the motion of the foot. Then, by using the equation
S=r.
-------- Eq 5.1
We can calculate the crank length. On calculating the term r (length of the foot
from malleolus joint and the tip of the foot) of many individuals, it is found that the
average value is around 14cm. The angle is to be in the range of 40o to 50o as
specified by the doctor. We have chosen a total angle movement of 45o. In radians, 45o is
equal to 0.785rad. Having these values,
S= (14cm) x (0.785)
= 10.99cm (11cm approximately)
Hence, S should be of 11cm to provide a total angular motion of 45 o. While
calculating for the term r, the length of the foot from malleolus to the tip is considered.
The malleolus joint is made the origin as the ankle rotates over that joint and the tip of the
foot is considered as the force required in moving the foot (i.e. push and pull) is less as
the distance increases, from the equation
T=F X L
---------- Eq 5.2
Where, T is the torque

F is the force applied at the point and
L is the distance between the origin and the point.
Fig 5.2 Scotch yoke side view: 1- clamp, 2- crank, 3 - pin, 4 - shaft and 5 - slider
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The slider slit length should be equal to the length of crank diameter and the
diameter of the pin for proper motion. This comes around 12.5cm and the width being
equal to the pin diameter as shown in the diagram.
The length of the shaft was decided based on the average shin bone length of few
individuals. Similarly, other measurements such as the dimensions of the foot plate were
also carried out the same way. Fig 5.4 shows the design of the crank shaft. Two rods run
parallel from the end of the shin guard to a point on the foot plate. These rods ensure that
the entire system lies in one plane. The points on the foot plate where these rods are
connected are the pivot points, on which all other calculations are made. The distance
between the tip of the plate and this point is the term r.
Figures 5.5 and 5.6 depict the footplate and the C-cup and their measurements.
The total size of the footplate was decided based on the average foot size measured from
a survey of 30 people aged between 15 to 30 years but the pivot point of 14 cm from the
top of the plate was calculated to achieve the required angular range i.e. its equal to the
value of r from equation 5.1. The C-cup was designed similarly from the same survey
for the average dimensions around the ankle. The height of the cup was obtained by
measuring the calf muscle sizes from the same survey.
Fig 5.3 Design of the disc
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Fig 5.4 Design of crank shaft mechanism
Fig 5.5 Foot plate design
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Fig 5.6 C-cup design
5.1.4 ANGULAR CONTROL DESIGN

Servo motors [10] are known for their accurate angle control. We send pulse
width modulation signals for controlling the angle of rotation of the motor. It is observed
that, for our design, 180 o in servo motor (maximum angle of rotation) corresponds to 45 o
angular movement of the foot. Servo motors take in a PWM signal having a period of
20ms. The duty cycle decides the angle to which the motor has to rotate. Every 0.2ms
increase in the duty cycle gives 10 o increase in the angle of rotation starting from 0.4ms.
For a Ton time of 1.4ms the angle of rotation is 90o, for 1.2ms, it is 70o and so on. The
factors which affect the angle control are: size of the disk, position of the pivot point on
the foot plate, position and size of the pin and the length of the shaft. All of these factors
are kept constant. Hence, the only way to control the rotation is by changing the duty
cycle which is done programmatically. This control is given to the doctor who decides the
angle of rotation of the foot based on the patients condition.
The angles provided for the movement of the foot plate are 5, 10, 15, 20, 25
degrees. These cannot be fed directly since the motion of the foot plate and the motor are
not similar, also as the PWM signal has to be sent for the angle control of the motor, there
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is a need to convert the angle movement required to the corresponding angle of the motor.
This should further be converted to pulse width signal before feeding it to Raspberry Pi.
It is measured that, when a pulse of width 0.5ms is sent, the motor is rotated to 0o
and when 2.3ms is sent, it rotates to 180o. It stays at 90o when a pulse of 1.5ms is sent and
so on. Based on this, we can calculate the pulse required to be sent to obtain other angles.
The measurements of the scotch yoke mechanism follow a sine wave. Therefore the
displacement is more for a small change in angle near the peaks compared to other
regions. This makes the angle calculations complex. The initial offset position is taken to
be 85o which can be set by sending a pulse of 1.45mS.
For 25o, the motor moves forward by 25o and backwards by 20o. For 20o, it moves
20o in both the directions from the initial offset position. This is similar with other angles
too. The following table shows the pulse widths required to obtain different angles.
Table 5.1 Pulse width required for different angles
Angle (in Degrees)
Forward pulse (ms)
Backward pulse (ms)
25
2.3
0.6
20
1.9
0.95
15
1.75
1.125
10
1.65
1.25
1.55
1.35
It is observed that for every 1.2cm displacement, 5o movement of the foot plate is
obtained. The offset point is 0.6cm away from the centre of the disc. The displacements
considered are taken from this point only. 1.2cm displacement in both the directions
together gives 10o motion, which is labelled as 5o representing that it moves 5o in one
direction. The corresponding pulse width is as mentioned in the table.
The angle of the motor is decided by taking the inverse cosine function on the
linear displacement and the radius of the disc which acts as hypotenuse when a triangle is
drawn using the linear displacement, radius of the disc and the altitude of the point under
consideration as the sides. Based on the angle obtained, pulse width to be sent is decided.
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For example, to get 20o motion (40o in total- 20o on each side) of the foot, the
motor should rotate from 25o to 140o. The corresponding pulse widths are 0.95ms and
1.9ms. For 15o motion (30o in total- 15o on each side), the motor should rotate from 52.5o
to 125o.
5.2 MATERIAL ANALYSIS

In the field of medicine, the materials used, play a very important role. They must
be selected such that they do not cause any harm to the patient when used. We have
chosen aluminium for the fabrication of the exoskeleton.
Aluminium (or aluminium) [11] is a chemical element in the boron group with
symbol Al and atomic number 13. Aluminium is the second-most used metal after steel,
largely because it is versatile. It is a silvery white, soft, ductile metal. It is noted for its
low density and for the ability to resist corrosion due to the phenomenon of passivation.
The advantages of aluminium which encouraged us to use this material are:
Light weight
Corrosion resistance
Electrical and thermal conductivity
Ductility
In addition to these, it is harmless to the skin even though it is kept in contact for a long
time.
5.3 ELECTRICAL DESIGN

5.3.1 NEED FOR BUFFER CIRCUIT
The 74HC245 buffer IC [12] is used to isolate the Raspberry Pi from the servo
motor. The PWM signal from the Raspberry Pi is fed to the input side of the buffer and
the output is connected to the servo input. Thus the buffer IC avoids the back currents
flowing to the Raspberry Pi and thus the heating of the Raspberry Pi board. This also
avoids the noise signal generated from the back EMF of the servo to reach the Raspberry
Pi.
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5.3.2 NEED FOR THE POWER REGULATION

The voltage specification of the servo motor is 4.8V to 6.2V. The power regulator
steps down the 220V AC to 5V DC which is used to power the servo motor. The
Raspberry Pi sources a current of 50mA from all the GPIO pins while the servo requires
1A of current for its operation. Trying to draw such huge amount of current from the
Raspberry Pi damages the Raspberry Pi since it does not have current limiting circuit for
protection.
5.3.3 SERVO MOTOR vs. STEPPER MOTOR

Selecting between a servo motor and a stepper motor can be quite a challenge
involving the balancing of several design factors. Cost considerations, torque, speed,
acceleration, and drive circuitry all play a role in selecting the best motor for our
application. Even though servo motors are expensive when compared to stepper, they
have their own advantages.
Servo motors are generally an assembly of four things: a DC motor, a gearing set,
a control circuit and a position-sensor. Servo motors are designed for more specific tasks
where position needs to be defined accurately such as controlling the rudder on a boat or
moving a robotic arm or robot leg within a certain range.
In servo motors the angle of rotation is limited to 180o back and forth. Servo
motors receive a control signal that represents an output position and applies power to the
DC motor until the shaft turns to the correct position, determined by the position sensor.
PWM is used for the control signal of servo motors. However, unlike DC motors its the
duration of the positive pulse that determines the position, rather than speed, of the servo
shaft. A neutral pulse value dependant on the servo (usually around 1.5ms) keeps the
servo shaft in the centre position. Increasing that pulse value will make the servo turn
clockwise, and a shorter pulse will turn the shaft anticlockwise. The servo control pulse is
usually repeated every 20 milliseconds, essentially telling the servo where to go, even if
that means remaining in the same position. When a servo is commanded to move, it will
move to the position and hold that position, even if external force pushes against it. The
servo will resist from moving out of that position, with the maximum amount of resistive
force the servo can exert being the torque rating of that servo.
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Stepper motors have a large number of poles, magnetic pairs of north and south
poles generated either by a permanent magnet or an electric current, typically 50 to 100
poles which make them bulky for equipment that are smaller in size. In comparison, servo
motors have very few poles, often 4 to 12 in total. Each pole offers a natural stopping
point for the motor shaft. For applications where high torque is needed, servo motors
shine. They maintain their torque rating at high speed. They are more efficient than
stepper motors with efficiencies between 80-90%. A servo motor can supply roughly
twice their rated torque for short periods, providing a well of capacity to draw from when
needed. In addition, servo motors are quite, available in AC and DC drive, and do not
vibrate or suffer from resonance issues. Stepper motors are not as good as servo motors in
accelerating a load.
5.4 WEB DESIGN

One of the great features of the Raspberry Pi is the built-in Ethernet connection,
which opens up many possibilities for web-connected projects. This enables this small
device to be able to operate as a web server, ideal for running custom web applications.
Since the Raspberry Pi can also be connected to a host of other sensors and devices
through the GPIO ports, this opens up the possibility of creating web-controlled devices.
Since Python [13], [14] is the main programming language for controlling the
Raspberry Pi, the ideal web server for the device is a Python-based web framework. This
means that the code for controlling the Raspberry Pi's GPIO could be integrated right into
the code for the web server.
The webpage is designed using HTML [15] as the coding platform as it is simple
to use and compatible with any browser. Designing an effective web site requires more
than just gathering relevant information and posting it on the web. Like a good paper or
research presentation, a quality web project demands as much attention to the selection,
organization, and presentation of material as to the underlying research itself. It is
important to be both clear and engaging in every aspect of site design.
As the webpage is designed for a particular application, utility and accessibility
assume more importance than visual design. It is also preferable to keep the graphics
mostly to a minimum - mostly text, little or no graphics enables quick loading, does not
require lots of memory or a high end graphic card. Letting the user see clearly what
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functions are available is a fundamental principle of successful user interface design. It
doesnt really matter how this is achieved. What matters is that the content is wellunderstood and visitors feel comfortable with the way they interact with the system. As
the user to the web interface is the doctor, there is a need to keep the webpage simple,
effective and must be designed in such a way that future expansions, such as an addition
of a pulse oxymeter or a health monitor can be easily incorporated into the existing page
without affecting the functionality.
An optimal solution for effective writing while displaying on the web page is to
Use short and concise phrases (come to the point as quickly as possible),
Use simplified layout (categorize the content, use multiple heading levels, use visual
elements and bulleted lists which break the flow of uniform text blocks), Such that
any new user can also quickly understand and access the webpage without difficulty.
To setup the Raspberry Pi as a server, we need to setup bonjour services and then
configure the board to host the webpage by accessing the pico.conf file. There are two
ways of performing the next step, you can either install an apache based framework or
use various web framework platforms for python such as flask, pylon, django and
cherrypy. We have used the Flask framework as it provides easier accessibility, and can
connect the HTML frontend with the python script in the backend.
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CHAPTER 6
IMPLEMENTATION AND RESULTS

6.1 BASIC ASSUMPTIONS
There are a few basic assumptions that we have to make with respect to the
implementation of the device. These include:
The patient is in the Intensive care unit and the status of the patient is known and
updated to the doctor.
The nurse can strap on the exoskeleton and power-on the system without any
technical know-how.
The doctor has access to the Local area network.
After the conclusion of the iterations, the doctor may or may not instruct the nurse
to remove the exoskeleton after the operation.
6.2 PROCEDURE TO BE FOLLOWED BY THE NURSE

First, the nurse has to strap on the exoskeleton and power it on. The nurse or any
ward assistant can strap it without any technical expertise of how the device has to
function. The system needs to be fastened such that the shaft of the scotch yoke
mechanism stays parallel to the shin bone of the leg at all times and that the alignment of
the leg with the system is in the same line. The leg is lifted up using the c-cup mechanism
described before. This is done to ensure that the mechanical action of the foot is
unrestricted by the bed. The height of the c-cup is such that the foot is inclined to a
required angle and designed such that the heel of the foot is free to move forward and
backward. Assuming that the patient has neither consciousness nor control over his/her
body great care is taken to keep the entire leg aligned in one direction so that the
movement of the feet can properly exercise the calf muscles without any hindrance.
6.3 PROCEDURE TO BE FOLLOWED BY THE DOCTOR

After the exoskeleton is powered on and the Raspberry Pi boots up, there are two methods
using which the doctor can control the operation.
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1. Through the web interface: The Raspberry Pi is configured as a server. It hosts
its own website which can be accessed via the LAN or if a domain name is
brought, through a WAN like the Internet. At the user end, the doctor can connect
to this server via a webpage and is required to input two parameters for the
operation of the exoskeleton i.e. the angle range to which the foot has to move
back and forth as well as the number of times the iteration or the action has to
occur. The webpage request for valid identification of the doctor before permitting
him to access the device. Then it requests for the different inputs. Once valid
inputs are received the webpage transfers control to the processor of the Raspberry
Pi.
2. By directly accessing command line of the Raspberry Pi: The presence of a
technician or a trained nurse may be required in this method to operate the
exoskeleton. The technician can access the Raspberry Pi directly by connecting a
monitor and keyboard or by using SSH can remotely access the systems
command line and execute the source code for the required parameters. These
parameters are given by the doctor.
Once the inputs are received by the board different procedures and functions
are called depending on the method of access.
6.4
FLOWCHART OF WEB CONTROL

Fig 6.1 shows the flowchart of the entire program. The various steps and the flow
of control in the main program when the system is accessed through the web interface are
as follows:
Step 1: Initialize and call various python and Raspberry Pi libraries such as RPi.
GPIO, Wiring Pi, Time and sys.
Step 2: Initialize GPIO pins and various modules associated with it. Configure the
board programmatically to follow a particular pin configuration for the Raspberry
Pi i.e. BCM mode or BOARD mode.
Step 3: Run the host webpage function. It is the empty webpage setup by the host.
It has a static local address when accessed through LAN but if accessed through
WAN, every time the Raspberry Pi is booted, it is assigned a dynamic IP address
thats linked to the static local address.
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Step 4: If the webpage is called, load the webpage or else wait. The webpage acts
as the user interface. When the user accesses the webpage using the local address,
the webpage is called.
Fig 6.1 Flow chart of the entire program
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Step 5: Calling Homepage. Fig 6.2 shows the flowchart of the homepage function
Step 6: Call the python script at the backend. The user inputs are taken by the
python script and run accordingly. Fig 6.3 shows the python script function.
The various steps and the flow of control when the Homepage is called
Step 1: As soon as the Homepage is called, it loads the source code. This acts as
the primary user interface. The doctor is asked to input various parameters.
Step 2: The parameters such as the angular control range and the number of
iterations for the action are taken as input. These inputs are passed on to the
python script.
Step 3: Returns control to the main program.
Fig 6.2 Flow chart of the function homepage
The various steps of the python script at the back-end

Step 1: Initialize iteration variables i and j.
Step 2: Accept user input values and set iteration and pulse value.
Step 3: Initialize each iterative loop for the desired action and execute the loops.
Step 4: Generate PWM signal as per the required Ton time.
Step 5: Return control to user interface.
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Fig 6.3 Flow chart of the python script
6.5 RESULTS
The major objective of this chapter is to verify the design of the exoskeleton and
examine the results produced by it. It is important to note that the following results
represent that the concept and design is working. Various screen shots of the web
interface and images of the different positions of the footplate are presented. Actual
implementation of the exoskeleton on the comatose requires testing and approval by
various medical bodies and the Government of India. It involves various procedures and
license grants which we are yet to obtain. But, rest assured, the concept and the study of
the effects on the human body and muscles show great promise that the main objective is
achievable, as soon as permission for testing on the target demographic is granted. The
following sets of images i.e. Figures 6.6 6.10 represent the web interface and the
various stages during input, operation and end of operation and Figure 6.11 shows the
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webpage with details about the team. The Doctor logs on to the webpage and enters the
angular range from and to which the foot has to move, then he is required to enter the
number of times this action has to be performed. After which he is directed to a waiting
page when the action is carried out by the mechanism. Fig 6.4 shows the proposed
exoskeleton model. Fig 6.5 shows the designed C-cup.
Fig 6.4 Proposed exoskeleton model
Fig 6.5 Designed C-cup
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Fig 6.6 User interface Homepage
Fig 6.7 User interface selecting the angle
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Fig 6.8 User interface selecting the number of iterations
Fig 6.9 Features of the project displayed
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Fig 6.10 End of operation
Fig 6.11 Page about the team
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CHAPTER 7
CONCLUSIONS AND FUTURE WORK
This new idea of bringing out an electromechanical assistive structure helps solve
the medical field problems in a simpler way. The results obtained by this method are
consistent and efficient. The design has been successful in mimicking the natural action
of the foot externally. This method improves the blood circulation in bedridden patients
without resorting to invasive procedures and drugs which may be harmful. By exercising
the calf muscles thoroughly the exoskeleton decreases the chances of muscular atrophy
and the improvement of the rate of circulation also prevents embolism formation. The
manufacture of the prototype along with the required components is very economical and
the design is found to be applicable to variable foot sizes and patients of different ages
from 15 years old and up.
This project shows immense promise and can be further extended to new stages. A
few of the possible enhancements are discussed below:
Implementation and testing on comatose would be the first step out of many. The
next goal of the project is to provide a feedback from the leg using sensors to
communicate vital information and also know the condition of the patient. This is
the higher stage of the project and will provide an easier method to monitor the
patient regularly.
A health monitoring system can be added by interfacing a pulse oxymeter to

measure the oxygen saturation and the monitor the blood circulation. This would
remove the need for the use of Doppler scans to monitor the blood circulation.
The Raspberry Pi can be configured to log data and monitor status of the patient.
By developing and implementing the right sensors, signals can also be tapped
from nerve endings in the leg to track the body status. This can also be used to
study the human brain when a person is in coma. Hence, it can help in
understanding the human brain but this would be very difficult and require a
dedicated amount of time to be implemented.
The same concept can be further implemented on Wide Area Network by buying
domain name. This provides a greater area through which the device can be operated. The
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design can also be used to provide rehabilitation for the patients who need physiotherapy
by simple changes in the design. Thus the work can be implemented on both comatose
and in post TBI cases as well.
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REFERENCES
[1] Coma and its related problems, Wikipedia,
Link: http://en.wikipedia.org/wiki/Coma
[2] Traumatic brain Injury, Wikipedia,
Link: http://en.wikipedia.org/wiki/Traumatic_brain_injury
[3] Jan F. Veneman, Rik Kruidhof ; Design and Evaluation of the LOPES Exoskeleton
Robot for Interactive Gait ;IEEE transactions on neural system and rehabilitation
engineering Sept. 2007 (Volume:15 , Issue: 3 ); Page number 379 - 386
[4] Zoss.A , H. Kazerooni, Andre chu ; On the Mechanical Design of the Berkeley
Lower Extremity Exoskeleton (BLEEX); IEEE/RSJ International conference on
Intelligent robots and systems, 2005. Page number 3465 3472. ISBN - 0-78038912-3
[5] GPIO on RPi , Google sites,
Link: https://groups.google.com/forum/#!topic/freedom-domotics/NJH9squrYAM
[6] Matt Richarson and Shawn Wallace Quick Start Guide .The Raspberry Pi Single
Board Computer source Raspberry Pi and wiki ,OReilly publications, Revised
edition 2013,ISBN-978-1-449-34421-4.
[7] Raspberry Pi ,www.raspberrypi.org/
[8] Pulse width modulation ,Wikipedia
Link: http://en.wikipedia.org/wiki/Pulse-width_modulation
[9] Scotch yoke mechanism, YouTube,
Link: https://www.youtube.com/watch?v=hsaoTo1vuY4
[10] Servo motor control ,Wikipedia,
Link: http://en.wikipedia.org/wiki/Servo_control
[11] Aluminium and its properties , Wikipedia,
Link: http://en.wikipedia.org/wiki/Aluminium
[12] 74HC245 Buffer , nxp.com,
Link: http://www.nxp.com/documents/data_sheet/74HC_HCT245.pdf
[13] S.D Doty , Python basics,
[14] Python , www.codeacademy.com
[15] HTML coding , www.stackoverflow.com
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WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Lack of oxygen resulting from cardiac arrest

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

post traumatic amnesia

emotional and behavioural problems

post traumatic ellipse

Parkinsons disease etc.

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

1.3 AIM OF THE PROJECT

1.4 OVERVIEW OF THE PROJECT

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Lack of blood circulation

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

2.1.1 LOPES (LOWER EXTREMITY POWERED EXOSKELETON) ROBOT FOR

Fig 2.1 Model of LOPES

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

2.1.2 BLEEX (BERKLEY LOWER EXTREMITY EXOSKELETON)

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Fig 2.2 Model of BLEEX

2.2 PROPOSED METHODOLOGY

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

WEB BASED CYBERNETIC ASSISTIVE LEG

Fig 3.1 Block diagram

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

3.1 CONTROL UNIT - RASPBERRY PI

Fig 3.2 Raspberry Pi B model

3.1.1 FEATURES OF RASPBERRY PI

Broadcom BCM2835 system on chip with ARM processor

Clock speed is 700MHz. It can be over clocked to 800MHz

It uses SD card for booting and persistent storage

Operating systems supported by Raspberry Pi are Linux, RISC OSand FreeBSD

14 HDMI resolution video outputs

21 GPIO pins with multiplexed functions

Power rating of 700mA(3.5W)

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Power source is a 5V microUSB or GPIO header

Size of the board is 85.60 mm 56 mm

Lights when SD card is accessed

On if network adapter if full duplex

Network activity light

On if network connection is 100Mbps

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

3.2 PWM MODULE

Raspbian provides Raspberry Pi with a library to configure PWM known as

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

3.3 74HC245 BUFFER IC

Fig 3.3 Internal circuitry of 74HC245

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

H=High voltage level

3.4.1 SERVO MOTOR

3.4.2 FEATURES OF SELECTED SERVO MOTOR

Torque: 9kg @ 4.8v

Speed: 0.21 / 60o @ 4.8v

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Fig 3.4 Servo motor

3.5 POWER MODULE

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON

Output Voltages of 5, 6, 8, 9, 10, 12, 15, 18, 24V

Thermal Overload Protection

Short Circuit Protection

Output Transistor Safe Operating Area Protection

Fig 3.5 KA7805 Regulator

WEB BASED CYBERNETIC ASSISTIVE LEG EXOSKELETON