The knee subsystem is responsible for rotating the knee portion of the leg brace. It uses a gear motor that interfaces with a vertical worm drive gearbox in order to rotate a shaft that has an arm that is attached to the gearbox system and the brace to move the leg. The knee motor is controlled by the Raspberry Pi and can rotate the arm clockwise or counter-clockwise to get the necessary flexion and extension motions.
Side view of the current mounted knee system
Front view of current mounted knee system
As of 12/2/2014, we have accomplished the following:
- Integrated gear motor with gearbox
- Tested rotation of gearbox by applying voltage to motor
- Mounted motor system on the brace
As of 12/2/2014, we must get the following done before our end-of-semester demo:
- Adjust arm on system to rotate properly
- Integrate with control system (program motor to work with user input)
