Exoskeleton teleoperation controller, for mirrored whole-arm teleoperation of the Kinova Gen3-7DoF during demonstration collection. While many teleoperation interfaces permit arbitrary arm motion, mirroring human whole-arm movements is critical for accurately capturing caregiving-relevant manipulation behaviors. Our custom exoskeleton is a scaled replica of the robot and consists of seven Dynamixel XC330-M288-T actuators that match the robot’s kinematic structure. Joint velocity measurements are mapped to velocity commands for the robot at 40 Hz. An additional actuator integrated into a trigger handle controls the start and end of data collection. Safety mechanisms and paired initialization ensure stable and reliable operation.
Bill of Materials
| Vendor | Description | Cost / Per Unit | Quantity | Cost | Link |
|---|---|---|---|---|---|
| Robotis | DYNAMIXEL XL330-M288-T | $27.49 | 7 | $192.43 | Product page |
| Robotis | DYNAMIXEL XL330-M077-T | $27.49 | 1 | $27.49 | Product page |
| Robotis | U2D2 | $36.92 | 1 | $36.92 | Product page |
| Robotis | U2D2 Power Hub Board Set | $21.85 | 1 | $21.85 | Product page |
| Total | $278.69 | ||||
Additionally, you will need a 5V DC Power Supply and a small Phillips head screwdriver.
Printer Parts
Exoskeleton parts:
Trigger handle parts:
Source: https://wuphilipp.github.io/gello_site/
Assembly
Step 1: Build the Arm
The arm is assembled of 7 joints with DYNAMIXEL XL330-M288-T motors:
Assemble 4 revolute joints.
Assemble 3 elbow joints.
The exoskeleton connects the joints alternating elbow–revolute from the base up using the tube connector pieces. To connect joints, slide in the corresponding dovetail pieces and secure with a screw.
Fit the base joint piece into the base and secure it with screws.
Step 2: Attach the handle
Attach one of the solid handle piece to the end of the arm by sliding in the dovetail connector and securing with a screw. Solid Handle 2 is best for end-effector only manipulation. Both can be used with or without a trigger handle attatchment.
If using the trigger handle, attach the DYNAMIXEL XL330-M077-T: Place spring inside the trigger, the connect the motor. Connect the trigger and motor to the handle.
Step 3: Attach the wires
Connect the wires in a chain connecting the Dynamixels from the base to the trigger.
Step 4: Connect controller
With the U2D2 and U2D2 Power Hub Board Set, assemble the Dynamixel controller. Attach the controller to the robot base.
Additional Support for Elbow Joints
To allow for full rotational freedom, exchange the elbow motor housing and output pieces with these parts. This allow for rotation of 2.44 radians in either direction. Attach rubber bands following the pictures to provide tensioned support that prevents sudden falls or bends. More information coming soon!
Usage
Full Arm Motion
To use with full whole-arm control: Using two hands, hold the exoskeleton at two different elbow joint positions at the top and bottom of the exoskeleton. Adjust as required to control all joints.
End-Effector
To use with just end-effector control: Attach your desired handle piece, and control by holding the handle stick or with hand around trigger. For best control with the standing base, use the Additional Support Elbow Joints with rubber bands.