Newsgroups: comp.robotics
Path: cantaloupe.srv.cs.cmu.edu!das-news2.harvard.edu!news2.near.net!news.mathworks.com!hookup!swrinde!howland.reston.ans.net!news.sprintlink.net!alfa02.medio.net!netnews.nwnet.net!serval.net.wsu.edu!unicorn.it.wsu.edu!a0014246
From: a0014246@unicorn.it.wsu.edu (mark fuller)
Subject: Re: exoskeleton
Message-ID: <D50Kqz.2C6@serval.net.wsu.edu>
Sender: news@serval.net.wsu.edu (News)
Organization: Washington State University
X-Newsreader: TIN [version 1.2 PL2]
References: <Pine.SOL.3.91.950225171545.14412B-100000@moon.pr.erau.edu> <3j577j$cq6@scitsc.wlv.ac.uk>
Date: Mon, 6 Mar 1995 10:20:58 GMT
Lines: 28

J.Tench (cm5585@scitsc.wlv.ac.uk) wrote:
: In <Pine.SOL.3.91.950225171545.14412B-100000@moon.pr.erau.edu>, Jess Wright <wrightj@pr.erau.edu> wrote:
: :  Hi everyone I have created primitive exoframes befor I am currenly 
: : designing a more sophisticated version. I am trying to decide on 
: : microhydraulics or neumatics for control loking for reaction time and 
: : strength am hoping for ability to lift 200+lbs through direct link to 
: : frame or pulleys. I am going to try and use piezo element sesors to 
: : control motion stitched inside of body suit for the increased reaction 
: : time and each limb is independent of the others so there is no need for 
: : mega processing power to handle limb control. The previous frame had 
: : electric motors and screws to move the limbs was slow in movement and 
: : control was by switches actuated when you moved was prety strate forward 
: : but took a while to learn your balance. I am in need of info on 
: : artificial balance control as well as you'lls opinions on any of my ideas 
: : and some of your own. this frame will be totaled closed in therefore it 
: : is protecting the operator and components.


You migh want to look into water based hydraulic fluids.  Weighs less
and you don't have those pesky toxcicity problems should a leak occur.
Using pneumatics is difficult due to the compressibility of the working
fluid.  Only recently has servo-pneumatics approached the useability
of servo-hydraulics.


Mark Fuller
TANSTAAFL

