Shoulder Exoskeleton

Datasheet

Motor Specifications

Property Value
Motor Used Omni-80-6-Beta
Motor Size Ø98 mm x 43 mm
Motor Nominal Voltage 48 V
Motor Nominal Torque 9 Nm
Motor Nominal Speed 165 RPM
Motor Nominal Power 240 W
Motor Max Stall Torque 21 Nm
Motor Weight 630 g
Motor Gear Ratio 6:1
Encoder 16-bit magnetic encoder

Actuator Specifications

Property Design Ratio
Shoulder Torque 12 Nm 36 : 1
Shoulder Motion -30-170°
Elbow Torque 2 Nm 6 :1
Elbow Motion 30-180°
Wrist Torque 0.33 Nm 1 : 1
Wrist Motion -80-80°
Angular Speed > 15 rad/s
Backdriving Torque < 10 %
Weight (5 actuators) 1.2 Kg

Control Specifications

Control Loop Torque/Speed/Position loop
Master Computer Communication Bluetooth, USB (RS-232)
Microcontroller communication RS232, CAN bus
Control Platform Placeholder
API Support Placeholder

Shoulder Exoskeleton Control Architecture


Video