Soft, wearable, 3D printable, and modular exoskeleton with integrated tactile and proprioceptive sensing.
This work is part of an ongoing master thesis project. Certain implementations, refinements, and code structure optimizations are still under development.
In the repository you will find all the necessary files to print and assemble your own soft exoskeleton and control it.
- Arduino_ESP32 project files Contains the Arduino .ino file and the .cpp and .h files for controlling and logging data on the ESP32.
- Enclosure Contains the .stl files used for the electronics enclosure.
- Hand Contains the .stl files for constructing the main glove part and an assortment of PTFE tube clamps used to secure the PTFE tubes to the glove.
- Index finger Contains the .stl files for contructing the index finger module of the exoskeleton.
- ESPLogger.py The logging and communication script meant to run on the computer in conjunction with the exoskeleton.
- requirements.txt required python packages
- ESP32s 30 pin devboard
- Pololu Micro Metal Gear Motor (6V, 250:1)
- Pololu 5V Step up/Step down buck converter
- sparkFun Micro Magnetometer - MMC5983MA (Qwiic)
- 6 mm x 2 mm round Neudymium magnet
- Adafruit PCA9546 4-Channel STEMMA QT / Qwiic I2C Multiplexer
- Pololu DRV8835 Dual Motor driver
- 7.4 V, 1000 mAh, 2S LiPo battery
- 1 k Ohm resistors for StretchSense voltage divider
- Flexible braieded thin steel wire
- A lenght of PTFE tubing
- Assortment of resistors, capacitors and an opAmp for current sense if wanted.
The exoskeleton is primarily printed on a Prusa MK3s and a Prusa XL 5T in red varioShore TPU from Colorfabb. It is printed using their recommended settings, at a nozzle temperature of 220°C
The StretchSense sensor is made of Conductive Filaflex TPU from Recreus, again dried and printed using their recommended settigns on a Prusa MK3s at a nozzle temeperature of 240°C
Python version: 3.11 Install: py -3.11 -m venv .venv source .venv/Scripts/activate pip install -r requirements.txt