Getting Started

Welcome to OpenExo! 

Video Walkthrough of this Site (Coming soon!)

Where’s the build guide?

Hip: 

Hardware > Hip Device >Hip Device Build Guide

Bowden-Cable Transmission: 

Hardware > Bowden Cable Assembly > Bowden Transmission Guide

Stay tuned for future updates featuring new designs for existing and new joints, including further end-effector designs (e.g., ankle, elbow). 

What’s here?

Our documentation is structured into three main sections: 

• Hardware

• Electrical

• Software 

Hardware Section:

Contains:

• Build guides for:

  • Direct-drive Hip Configuration 

  • Bowden-Cable Transmission System

• SolidWorks files for device components 

• Bill of Materials 

• CubeMars configuration tool (also available on their website)

Electrical Section:

Contains:

• Manufacturing OpenExo baseline printed circuit board (PCB)

  • CAN motor-based PCB [T-Motor PCB]

  • Includes files needed to order PCB 

• Manufacturing OpenExo Maxon-motor compatible PCBs

  • Two Versions:

    • Control of Two Motors 

    • Control of One Motor

• Guide to adding new sensors to the OpenExo platform via the CAN motor-based PCB

Software Section:

Contains:

• Link to primary software documentation 

  • Includes information on:

    • Firmware

    • GUI/API

How do I use this documentation?

To build the OpenExo platform for yourself, you’ll want to start with the OpenExo Hip Device Build Guide. This will walk you through the construction of the hip-assistance configuration of OpenExo, which is our baseline recommendation.  

If you want to explore assistance with a different joint, check out the documentation for how to make a bowden transmission system. We are unable to provide our current end-effector designs (i.e., the latest versions of the ankle and elbow assemblies), but we hope that the documentation on the bowden transmission system serves as a good starting point. Please stay tuned for future updates concerning new end-effector designs that are in development.  

The OpenExo Hip Device Build Guide centers on the mechanical hardware, for documentation on the PCBs see the Electrical Section. We recommend starting with the CAN Motor PCB, as this aligns with our baseline hardware recommendation for the hip. 

There is also some documentation for customizing OpenExo to meet your own needs. To find such documentation, read the “Start Here” document located in each section. It will orient you to what is contained within that section and how to utilize it.

Where should I start?

We first recommend a detailed review of the safety considerations and recommendations provided in our OpenExo Safety Overview Section. 

From there, you may wish to first skim the Hip Build Guide and view the SolidWorks assembly to orient yourself. 

Also be sure to check the Updates on our Home page before beginning construction or any modifications, as we may have already made simplifications, modifications, or integrated new components addressing your needs!

Contact & Resources

For questions, issues, or further assistance, reach out to us at:

• Email: theopenexo@gmail.com

• GitHub: https://github.com/naubiomech/OpenExo

• Website: http://theopenexo.org

• Biomechanics Lab: https://biomech.nau.edu

Licensing 

• Hardware: OpenExo's hardware is licensed under the CERN-OHL-P v2.0 licence

• Software: OpenExo's software is licensed under the GNU Lesser General Public License (LGPL v3.0)

Disclaimer

The OpenExo system and all associated materials, including hardware designs, software, and documentation, are provided for research and educational purposes only. This system has not been reviewed or approved by the U.S. Food and Drug Administration (FDA) and is not intended for clinical, medical, or commercial use.

Use of the OpenExo system is entirely at your own risk. Neither Northern Arizona University nor the developers of OpenExo assume any responsibility or liability for injuries, damages, or losses that may result from the use, misuse, or interpretation of any component of the system.

By accessing or using the materials provided through this site, you acknowledge and agree to these terms.

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