ANTHONY STUART

About the Project

This project was made in collaboration with Joao Ramos of the MIT Biomimetics Robotics Lab for the HERMES Project. HERMES is a humanoid robot controlled by a human pilot wearing an exoskeleton. The exoskeleton contains encoders and force sensors to transmit information to the robot, and actuators to allow the user to feel forces that the robot is feeling. 

 

My Role

My role on the project was to design additional exoskeleton components to track the user's leg and body position and apply forces to the torso. This consisted of designing linkages for the exoskeleton, encoders at the joints to measure joint position, and a mounting mechanism to attach the linkage to the foot. Once they were prototyped, all parts were manufactured with a 3D printer.

Results
After designing the leg attachments, I was able to successfully manufacture and assemble all the parts, providing the lab members i was working under with a platform to enhance the capabilities of the robot.