It is important that the fall protection tie-in points can handle the full load of the pilot and exo. Seems like everything is good, and Tyson got a chance to portray his favorite superhero.
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We wanted to make sure that the ankles and foot plates work on the side slope task. We tilted a board to the maximum side slope (about 9 degrees) that we will see at the Cybathlon. We tried with the feet flat and the legs perpendicular to the slope and we tried with the feet on edge and the legs aligned with gravity. Both seemed fine.
Feet flat
Legs aligned with gravity
We want to thank Lord Sensing - MicroStrain for their support of our effort. We will be using the 3DM-GX4-15 IMU from MicroStrain on Mina v2 to provide pose information of the pilot and exoskeleton.
We completed the sofa task while having the exo powered from a battery and the pilot in full control. This was done with an able-bodied person. We are close to having Mark (our pilot) start testing.
We are demonstrating completion of the Sofa task with an able-bodied pilot. The pilot is controlling the operation while the exoskeleton is powered from an off-board battery.
Here is our first attempt at completing the sofa task. Everything went well. We'll be testing with our pilot, Mark, soon.
This is our first attempt at completing the sofa task in our exoskeleton, Mina v2, for the Cybathlon. You can find out more about our project at http://robots.ihmc.us/cybathlon/. In this video, the pilot is able-bodied. Our next step is to test with our pilot, Mark, who is paralyzed from a SCI.
We want to thank Star Prototype for sponsoring our project. Star is our go to shop for all our machining. Basically, every blue part of our exoskeleton was made by Star. They are great to work with by providing quotes really quickly, and generally a two week turn around on parts.
Check them out at www.star-prototype.com.
Thank you to Futek for sponsoring our project. We are using their LCB200 load cell in each of our actuators.
Mark gives the OK that he is ready to try standing in v2
From Left to right (back row): Koen Kramer, Tyson Cobb, Olger Siebinga, Peter Neuhaus, Travis Craig
Front row: Mark Daniel
This is the first time that Mark has tried v2 on. It fits like a glove (fortunately).
We got v2 assembled and walking in the air
