Master/Slave Suits for Robot Control

[srobot]

Hi,
I was wondering if any body has made or knows how to make a exosuit (master/slave unit)? Any pics or help would be good!

Pics of suits:

Thanks Pev for pointing this one out. http://www.robots-dreams.com/2006/11/roboone_gran_pr_2.html#more

http://www.botmag.com/articles/robo_one_ten.shtml

Thanks
--srobot

[gdubb2]

Hey srobot,

I'm sort of heading in this direction myself with my RN-1 "Bheka". It just got upgraded to 20 DOF with wrist and leg rotation, and will soon have 22 DOF when I get the grippers finished.

My plan is to not use a wearable device, but make a replica of the robot that I can manipulate, and have it follow along. The arms are most important to me, so I will most likely use preprogrammed moves for the legs, and just manipulate the arms. I figure that I will need at least 8 analog inputs and 8 or so digital. This would be input to a PC, the numbers crunched, and the moves transmitted to the RN via Bluetooth. I don't know if it will work, but I'm sure going to give it a try.

I'm more of a mechanical and electronics person (30+ years as an Instrument Tech), definately not a programmer. But I have VB Express to play with, so maybe I'll learn something in the process. I could get any of the Visual Studio Express programs since they are free, Don't know why I chose VB. Oops I digress...

Back to the topic at hand. I have been looking at input boards, since I'm not a programmer, the Trossen Phidgets look promising. Don't have to learn how to program PICs that way. I was thinking of their 8/8/8 input board. 8 analog in, 8 digital in, 8 digital out. connects to the PC via USB.

Good Luck
Gary

[srobot]

Hmmm yes that is a good idea! I'll think about it!

Thanks
--srobot

[slashsplat]

I have made a skel from tripod parts. I am thinking of using some 10 turn, linear pots to sense the movement. Bring them in to a Basic Stamp board, measure the ohms, and create the servo info. First goal is to create a RCB file for the HTH3 to send to the MANOI. I ordered the extra 3DOF to get 20. I may have to use servos to sense, but I think the resistance will work. The goal is CHEAP and easy to replicate.

But I like the idea of being able to JUST MOVE MY ARMS. I will do legs also, as the walking gaits are a pain to program.

Pix to come...

The model idea is interesting...

[Robo1]

have you thought about using the nintendo wii controllers. have one my self and they are sick work really well. I have 4 for multi player games but with a bit or gaffer tape could make a simple exo out of them!

bren

[slashsplat]

RE: WII
Are you saying that you could take four WIIs, attach them to wrists and ankles, and use the output to calculate the position of them, then calculate the required motions for the should/elbow/etc. servos to get it there?

[Ignorance exposed] Since the WII would be sensing RELATIVE position/movement, would it wind up with an accumulated error in estimating where the wrist is after many movements??? I have never used a WII on a game, obviously. Is there a way to get an ABSOLUTE position reference, or would that have to be done by standing in HOME position and pressing a button?

[Robo1]

It was just an idea. but they can tell the position there in and the speed direction they move so you could calculate where they end up and the like. one of them are accrute anof so taht you can play tennis and golf to a very realistic detail. I'm going to expeniment with the one's I have to see about using them, but I have onr hundred and one things planned so will see if i ever get round to doing it.

bren