Human-centered mechanics
Joint alignment, adjustable segment geometry, cuffs, interfaces, load paths, and practical don-and-doff access.
IEEE at USF / EXO
Engineering the next step.
A student-led lower-limb exoskeleton program translating biomechanics, embedded control, and mechanical design into a unilateral assistive development platform.
Current phase
Engineering development
Architecture
Powered hip + knee / passive ankle
Program premise
We are not merely building a powered frame. We are determining when assistance should occur, how much is required, and how a device should respond to human gait.
Embedded assistance logic
Real-time sensing, gait-state reasoning, bounded commands, watchdogs, software limits, and synchronized logging.
Evidence-driven validation
Bench-first testing, traceable requirements, interface reviews, test evidence, and responsible separation from human research.
System / Signal architecture
From human motion to bounded assistance.
A distributed stack keeps sensing, real-time control, high-level computation, actuation, and hardware power isolation in clearly defined roles.
Preliminary control path
Bench-first / interfaces subject to verification
High-level compute
NVIDIA Jetson Orin Nano
Planning · logging · interface · bounded bench/offline optimization
01 / Onboard sensing
IMUs + encoders
Heel / toe contact sensing
02 / Real-time control
2× Teensy 4.1
Commands · telemetry · watchdogs
03 / Network
CAN bus
Motor and sensor communication
04 / Actuation
Hip + knee
2× CubeMars AK80-9 family
Passive ankle / mechanical branch
Posterior retained cable + spring concept.
Angle feedback
Independent ankle sensing allocated back to the real-time control layer.
Hardware safety chain / independent of software command path
Latching E-stop
Hardwired power isolation
AK80-9 power stage
One system / Five workstreams
Built across disciplines.
EXO connects research and requirements to hardware, embedded software, fabrication, and verification. No subsystem succeeds in isolation.
Mechanical / CAD
Fit, powered-joint alignment, adjustable thigh and shank geometry, cuffs, mounts, load paths, passive ankle packaging, fabrication drawings, and assembly access.
Electrical
Protected power distribution, connectors, harnessing, CAN physical layer, current and thermal sensing, precharge, and hardware E-stop architecture.
Controls
Signal processing, state estimation, gait-state logic, bounded motor commands, software limits, watchdogs, fault handling, telemetry, and repeatable logging.
Controls / commands + telemetry
Electrical / buses + protection
R&D
Biomechanics, literature review, technology comparison, concept evaluation, requirements, future systems, and validation planning.
Integration / Verification
Interface control, design reviews, supported bench tests, acceptance criteria, fault-response checks, as-built documentation, and traceable evidence. Every workstream converges here before the system moves forward.
Projects / Build status
Ongoing + done.
A concise portfolio of the systems IEEE at USF members are developing now and the prototypes the team has already built, demonstrated, and documented.
Ongoing / EXO
Done / MIME V1.2
Ongoing
REV A / 2026
EXO
A right unilateral, sagittal assistive development assembly with powered hip and knee joints, a passive ankle, embedded sensing, distributed real-time control, CAN communication, and bench-first verification.
Current working hardware: 2× Teensy 4.1, 1× Jetson Orin Nano, and 2× CubeMars AK80-9 actuators. This is an engineering development platform—not a released wearable device.
AK80-9Teensy 4.1Jetson Orin NanoCANIMUEncoders
Done / Build + demo
V1.2
MIME V1.2
A life-size robotic hand that mirrors an operator’s finger motion from a laptop webcam. MediaPipe tracks 21 landmarks per hand, while Python handles calibration, operating modes, and motion mapping.
Control path: webcam + MediaPipe → Python → ESP32 → PCA9685 → 6× MG996R servos, with five finger channels and an independently calibrated 0–180° wrist. The mechanics use open-source InMoov hand and forearm files.
MediaPipePythonESP32PCA96856× MG996RToggleVariable4-PositionRPS
Development path
Design gates before declarations.
The roadmap forces requirements, interfaces, bench evidence, and readiness reviews into the build—not after it.
Requirements
Define fit, functions, boundaries, interfaces, and verification intent.
Architecture + interfaces
Turn research into mechanical, electrical, and control decisions.
Preliminary review
Expose assumptions, conflicts, risks, and missing evidence.
Subsystem detail
Complete CAD, schematics, harnessing, logic, and test artifacts.
Bench tests
Validate communication, sensors, limits, power, and isolated functions.
Critical review
Review detailed readiness before fabrication and integration.
Fabricate + assemble
Create the physical development assembly and as-built record.
Test readiness
Confirm fixture, procedure, limits, support, and fault response.
Integrated bench validation
Collect evidence across the assembled system under controlled loads.
Rev A learning
Archive results, close gaps, and define the next revision.
Status note: This is the intended development path, not a claim that every gate is complete.
Scroll horizontally to inspect all stages.
Research + safety boundary
Build first. Validate responsibly.
The current assembly is an engineering development platform. Bench and fixture work must remain clearly separated from any human-subject activity.
Engineering build
CAD, power, sensing, controls, fixtures, supported bench tests, documentation, and operational limits.
Authorized research path
Human motion collection, CARRT access, and Vicon calibration proceed only within written approvals and local authorization.
The work behind the system
Hands-on engineering, documented.
EXO is built through measurement, controlled interfaces, subsystem bring-up, design review, and the evidence needed to make the next decision.
MeasureFit, segment geometry, components, clearances, and interface conditions.
IntegrateMechanics, power, sensors, CAN, embedded nodes, and physical packaging.
TestBench communication, sensing, limits, fault response, and controlled loads.
RecordRequirements, drawings, schematics, logs, decisions, results, and as-built changes.
For USF students
Build with EXO.
Bring a discipline and leave with a system-level view. Members can contribute through mechanical design, electrical integration, controls, embedded systems, biomechanics, documentation, and testing.
Mechanical · Electrical · Controls · R&D · Integration
For partners + sponsors
Move the program forward.
Support can accelerate responsible development through actuators, sensing, test equipment, fabrication, batteries and power hardware, safety components, technical review, and engineering mentorship.
Hardware · Tools · Fabrication · Mentorship · Funding