Exo+Minutes

Back to Load Carrying Exoskeletontoc

=Template=

Attached: Drawings, email correspondence, renderings, orders, etc
= = = = =February 27, 2012=

Start Meting- 5:32

Share learned material from previous week
 * Adrian- nurse program in uk
 * logan- varying diameter helix patents

Things to do before next meeting
 * Adrian: upload decision matrices
 * create google docs to write final proposal draft
 * Nathan: draw up designs
 * look at project binder and identify parts for deliverables writeup section
 * create images for proposal- nathan on CAD, logan on illustrator
 * background research
 * companies: why were not doing it like HULC, Raytheon, etc
 * background concepts: decision components of each subsystem
 * think about ankle/actuator designs
 * read everything posted on the wiki

Project Discussion: Foot Clamp to secure load device to go through laces spikes that stick into rubber sole

Review of previous semester's design notebook to determine deliverables and extent of proposal

Weekend Meeting Times to finish proposal Logan: Free All Weekend Adrian: Free All Weekend Nathan: After 5 on saturday, sunday all day Pedro: All weekend Andy: After noon on Sat, All day sunday

Weekend Meeting time: **5 pm on Saturday** (bring your laptop)

meeting ends 6:10pm

=February 29, 2012=

Start meeting: 5:20 pm

Background to research:

set up Google docs transferred info from wiki

sat meeting still works

=March 3rd, 2012=

Start meeting: 5pm

go over

Decision matrices:
 * __Leg attachments__
 * None wins, close second to bindings, but bindings uncomfortable
 * Ergonomics criteria to include gait disturbance as well as comfort to user
 * __Load attachment__
 * Criteria
 * Adjustablilty (very important) and escape
 * Ergonomics increased weight
 * Mass decreased weight
 * MOLLE - backpack frame
 * Harness - directly onto body
 * __Structural knee__
 * Criteria
 * Range of motion
 * Revoluteness is given
 * Adjustability is a function of it all
 * Options
 * Bowden cables
 * tension - direct attachment / bowden cable
 * direct attachment heavier
 * direct attachment more expensive due to more machined parts
 * compression-direct attachment / bowden cable
 * direct attachment heavier
 * __Structural hip__
 * Criteria
 * Functionality
 * how close will it get to transfer desired load
 * transferring load to center of mass of backpack
 * Options
 * Revolute joint
 * poor range of motion
 * Restricted Ball joint
 * Medial specs included
 * located towards mid-line of backpack
 * wrapping bone around for medial will increase weight
 * Dual-revolute joint
 * e.g. universal joint
 * __Structural Ankle__
 * Options
 * Ball joint -- direct/bowden connection
 * Revolute joint -- direct/bowden connection
 * Tension/compression of bowden cable disregarded
 * Criteria
 * Disregard force
 * __Structural Ground Contact__
 * Criteria
 * Gait alteration, to include:
 * ergonomics
 * profile
 * Options
 * Load thru boot/2 point
 * Direct ground contact/2 point
 * __Power Train Knee__
 * Criteria
 * Power consumption
 * Control reliability
 * how correlated can get to actual knee motion
 * Options
 * Options
 * Jack spring
 * Robotic tendon
 * Pneumatic cylinder
 * Air spring
 * Motor and gearbox
 * __Power Train Ankle__
 * Criteria
 * Options
 * passive ankle option
 * criteria: no control
 * Air spring will be in series for actuators, cost less
 * __Power Train Hip__
 * Criteria
 * Swing
 * Options
 * Torsional spring--passive
 * __Power Storage__
 * Criteria
 * Capacity
 * output
 * peak energy dissipation
 * Options
 * Battery
 * Compressed air tank
 * Firearm energy capture
 * unknown...
 * Solar
 * Generator
 * None
 * __Senors__
 * Criteria
 * Versatility
 * Accuracy
 * Reliability
 * Complexity
 * Cost -- increased, to include availability
 * Options
 * EEG
 * EMG
 * Rate-gyro/tibia controller
 * EMG
 * Rate-gyro/tibia controller

Possible sunday meeting to finish writing. Proposal draft due monday.

Meeting end: 10pm

=**March 4th, 2012**=

= = Start at 1:30pm

Finish writing proposal CAD drawings created

End: 6:00 pm

=March 12, 2012=

Meeting with huebner about design proposal


 * diagrams of major components and subsystems
 * discuss in the order listed
 * summarize with same chart- highlight where we are going
 * statement of work table- task, **team members**, purpose, resources used
 * if multiple people- show percentage breakdown
 * Deliverable tables- administrative and technical (same with gantt chart): deliverable, completion date, details
 * must want table
 * Rotate Gaantt Chart 180 degrees
 * make a cool background for first page

Team meeting- 5:52pm
 * Statement of work table- logan
 * deliverable table- pedro
 * must/want table- nathan
 * subsystem diagram: before/after- andy
 * decision matrices- andy
 * document proofreading/wordsmithing- all
 * table of contents- done after draft is revised

Convene meeting- 6:20pm

=March 20, 2012=

Meeting on google docs

re-writing of the report, change positions in order to get new perspective Assign to finish over spring break:

Adrian-Background Nathan- tech justification, constraints and criteria tables Andy- tree diagrams, gereral editing Pedro- gantt chart, deliverables table, previous works Logan- Statement of work tables, final editing

=March 27, 2012=

meeting on google docs

refine project proposal- wordsmithing, organization, content

=April 2, 2012=

Meeting begins: 5:15 Location: GWC 535

adrian not present

Talk about mid-semester report and design notebook looked through structure of previous notebooks Planned ahead for future projects

Discussion of the project updates from personal progress Andy-knee Pedro-ankle Nathan- analysis Logan- kinematics

conversation about design specifics bowden cables materials joint design manufacturing
 * extruded cuts and revolved cuts
 * draw parts to make it easy for machine

Define the current challenges of the design
 * 1) ankle joint- how to escape but also actuate with inertial compensation
 * 2) escape not as important, can be developed last
 * 3) metabolic is first

End meeting- 6:30pm

=April 4, 2012=

Time Started- 5:34


 * 1) Talk about progress on design parts
 * 2) Review Design Notebook

=April 9, 2012=

Time Start- 5:15

Nathan- on skype

make sure everyone has jobs...