Power Legs!

This page is about building power legs for the suit, check out the main project index for the rest.

There are some YouTube videos about this section, or scroll down for pictures and words:

The legs are made from wood! but his can be changed later if the idea works out well. Like all leg projects I build they are parallelograms – they need to support the weight of the ExoArm so they are sprung upwards with a large ‘press exerciser’ spring:

I’m using a similar 3D printed gearbox and brushless motor to the other sections to pull blocks and tackles. This will actually be to lift each leg and I take steps, relying on the spring to support the load:

I’ve now attached the legs to the back-pack I previously made. I’ve used 3D printed in Taulman alloy 910 and stainless steel to make all the axis:

The side-to-side lean is restricted but mechanical limits and the whole thing is sprung to the middle with bungee cords:

I’ve used Arduino based electronics to control each leg – check out the videos above for more details.