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The Future is in Your Hands
Welcome to ExoDeeto
The ExoDeeto design can be divided into four main sections, the mechanical actuation system, the sensor system, the system controller, and the electrical system.
Mechanical Actuation
The final design solution is a mechanically actuated set of linkages. These linkages mount above the hand to provide forces which will cause the finger joints to bend and unbend. These links are strategically driven by servo motors via push-pull bowden cables.
Finger Position Sensing
Sensing of the finger positions is achieved through 14 rotary potentiometers mounted to each finger joint. This way, every joint in the finger can be sensed to achieve a strong idea of the exact hand position. The 14 sensor signals are passed through a MUX followed by an ADC. The voltages are read by the Pi and converted to angles.
Control System
The system is controlled using a Raspberry Pi. The Pi takes in the potentiometer readings and uses those alongside a set of desired positions to create a control loop to ensure those desired positions are tracked.
Electrical System
The Raspberry Pi serves as the brains of the device and has its own power supply. It is connected to the ADC and MUX signals for the sensor input. A PWM board is used to provide the PWM signals for each of the ten servos. The servos signal wires are hooked to this board accordingly. The servos are powered by 5V rails from the separate power supply.