ziteh / LEAP-upper-limb

Upper limb powered exoskeleton (Stop updating)

LEAP Upper Limb

Note This study has ended and is no longer updated.

LEAP-Up, or "Lightweight Exoskeleton with Assistive Power, Upper Limb" is an upper limb powered exoskeleton based on the experience of develop LEAP.

• Firmware
  • Master controller: STM32Cube, STM32 HAL
  • SIE joint code: PlatformIO, simpleFOC
  • SFE joint code: PlatformIO, simopleFOC
  • EFE joint code: PlatformIO, LibOpenCM3
• Hardware
  • PCB
    • Master controller
    • SIE/SFE joint
    • EFE joint
  • Mechanical

Part List

• MCU
  • STM32 NUCLEO-F446RE: Master controller and EFE joint
  • STM32 NUCLEO-L432KC: SIE and SFE joints
• Gear
  • SHD-25-100-2SH-SP: SIE joint
  • CSD-32-100-2A-GR: SFE joint
  • maxon GP 32 S: EFE joint
• Motor
  • T-Motor U8: SIE joint
  • T-Motor U10II: SFE joint
  • maxon EC-i30: EFE joint
• Motor Driver
  • ZONRI DRV8302: SIE and SFE joints
  • maxon ESCON 70/10: EFE joint
• Sensor
  • WACOH WEF-6A200-4-RCD: 6-Axis force sensor
  • ams-OSRAM AS5047P: Angle sensor/encoder
• Others
  • MAX490: RS-422 to UART

Environment

• Ubuntu 20.04.3 'Focal Fossa' LTS (64-bit)
  • ROS 2 Foxy Fitzroy
• MATLAB R2020a
  • Robotics Toolbox for MATLAB Ver. 10.4
• STM32
  • PlatformIO IDE for VSCode Ver. 3.4.4
    • Core Ver. 6.1.9
    • Platform: ST STM32 Ver. 15.6.0
  • Atollic TrueSTUDIO for STM32 Ver. 9.3.0
  • STM32Cube
    • MX: Ver 6.7.0
    • IDE: Ver 1.12.0
  • SimpleFOC: Ver 2.2.3
• Autodesk Inventor professional 2022

Reference

• SimpleFOC
• stm32-examples
  • libopencm3
• libopencm3 Developer Documentation