The three strength test trials are shown below.
Trial #1
Trial #2
Trial #3
This test was done using the 320Kg*cm servo motor. A variety of weights up to 8 pounds were used, where the outcome of the experiment was determined through the angle shown on the brace for each weight.
Results
- Trial #1: 70 degrees for all weights
- Trial #2: 60 degrees for all weights
- Trial #3: 60 degrees for all weights
From the first trial to the second trial, the exoskeleton arm brace lost tension in the Bowden cable. This resulted in a loss of angle from 70 degrees to 60 degrees. Also, there was a systematic error with the strength test because for all the weights, the angle remained the same.
Since this failed test, we have updated the exoskeleton arm brace to not lose tension (which resulted in the correct angle desired).
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