Super Foot - a Smart Companion for the Physically Challenged Using Intel Galileo

Induction of this idea:

We felt really very sorry for a Colleague in our office, whose legs are disabled very badly and she struggles a lot daily with crutches to walk. Though there is provision for lift, it is harder for her to reach that distance even .So, we got a thought to make the life of her and much more people like her a stress free and fruitful one.

Basic Objective of the Project:

It is the idea of creating a wirelessly controllable smart motorized boots for the physically challenged (leg) that can be used with ease and can be worn throughout the day with comfort.These boots were designed keeping in mind the that it should fit into almost all sizes or even over prosthetic legs. With which they can move around by standing to their height and can sit on chairs, sofas as we do with no or less help of others.

What will the Super Foot will comprise of?

The SUPER FOOT will consist of a pair of less weight wearable boots, motorized wheels, a battery pack, a back strap for support and a compact motorized unit. The motion and the direction of the wheels can be controlled by the mechanism used inside the boots.

For whom will it help?

It will be useful for the persons with A normal leg and other as Prosthetic Leg

It will also help the elderly people for their routine move around

Can act as a hobby wheel for the fun loving people

Hardwares Required:

1. Intel Galileo Gen 2 Board

2. Intel Centrino One half PCI-E N-135 Wi-Fi card

3. Half Size to Full Size Mini Pci-e PCI Express Adapter

4. Injection moulded components or 3D printed(In case of prototype)

5. Micro SD card with Yocto Linux Image Burned

6. DC Motors with high torque

7. Receiver Circuits

8. Smartphone to act as Controller for the Vehicle

9. Rechargeable Cells or Batteries (to power up the Intel Galileo as well the motor circuits)-- we prefer Lithium Ion Phosphate batteries for high battery backup, less discharge in idle time and less weight

10. Connecting wires

11. Poly Urethane Wheels

12. Caster Wheels for Stability

Softwares Required:

1. Arduino IDE Version 1.5.3-Intel 1.0.4

2. Intel XDK Iot Edition for Smart Phone app development

3. Yocto Image for Wifi Support and Customised Libraries

Designing Software we used:

1. SolidWorks Professional 2008

Mechanical Analysis software used:

1. ANSYS 10

We started this with ATMEGA 328 Micro Controller and it will explain the basic workflow of the project.

And then we started with the Intel Galileo Gen 2 in the next iteration

Attached Pictures will showcase the design iterations we have gone through

Iteration 1 Drawback-Weight is more since used 2 motors per shoe

Iteration 2 Overcome-Weight reduction is made by using a compact power single motor per shoe

Iteration 1 Drawback-2 Wheels were used for the Motion but less turnability and stability

Iteration 2 Overcome-1 Wheel connected to a Motor Drive and a Caster wheel for the better stability and turnability

Iteration 1 Drawback-Using a battery pack made of Li Ion Battery which is not safe and very heavy

Iteration 2 Overcome-Finalised to use LiFePO4(Lithium Iron phosphate) Cells as a pack for higher battery back up, less discharge at idle time and Very Safe

As shown in the image, there will be two boots with the a motor powered wheel and a dummy wheel in each boot.

• The Battery powered and wifi enabled Galileo Board is fitted with the transmitter.

• The Smartphone app developed specially for this sends the commands over the wifi and transmits the data to the corresponding motor by means of the receiver
• Brake circuit is also included as a safety measure
• The Motors are powered by the separate battery source in each shoe or boot

The bottom view showcases the presence of the Battery inside it.

Yocto is a Linux Image file with the set of useful libraries and more specially we can configure the Wireless devices ,as well to interact with the devices connected over the network.

Following link is the guides you in the process of the downloading and burning of the Yocto Image file into the Micro SD card.

Downloading and Burning of the Yocto Image file to SD Card- Intel Link

Development of the Smartphone app to control the SUPER FOOT can be done easily with the IDE provided by the Intel for the Cross Platform app development.

It is, Intel XDK Iot Edition

For more details on this,please visit the following Intel Link

Intel XDK Intro and Mobile app development

• Accelerate Button in the Smart Phone app corresponds to the Powering up of both the motors with same torque

• Brake Button brakes the power supply and makes the Boots to rest position (A mini spring suspension will work fine to land without much Jerk)

• Right Button powers only the left sided shoe's motor and since the dummy wheel in the left part and 2 wheels in the Right foot are not powered, the result is a Right Turn

• Similarily Left Button powers only the right sided shoe's motor and since the dummy wheel in the right part and 2 wheels in the left foot are not powered, the result is a Left Turn

Analysis 1
Motor: DC Brushless Hub Motor, 200 Rpm, 150 Kg-cm Torque, 24 Volts, 60 Amperes

Battery: Lithium Ion, 2000 mAH, 20Coulombs (20*2 = 40Amps)

Max Speed: 16Km/hour (Can be increased to 20Km/hour)

Distance: 9.5 Kilometers

Range in Time: 50 min Charging Time: 1.5 Hours

Analysis 2

Motor: DC Brushless Hub Motor, 200 Rpm, 150 Kg-cm Torque, 24 Volts, 60 Amperes

Battery: Lithium Ion, 3000 mAH, 20Coulombs (20*3 = 60Amps)

Max Speed: 16Km/hour (Can be increased to 20Km/hour)

Distance: 12.8 Kilometers Range in Time: 70 min

Charging Time: 1.5 Hours

Analysis 3:

Motor: DC Brushless Hub Motor, 200 Rpm, 150 Kg-cm Torque, 24 Volts, 60 Amperes Battery: Lithium Ion, 4000 mAH, 20Coulombs (20*4 = 80Amps)

Max Speed: 16Km/hour (Can be increased to 20Km/hour)

Distance: 16.1 Kilometers

Range in Time: 90 min

Charging Time: 1.5 Hours

Attached are the renderings of the actual design.

Hope this instructable serve as an inspiration to create a smart wearable using the Intel Galileo.

1. This project can be enhanced further with the Voice operated Commands

2. Using the Internet of things further more like configuring with GPS

3. Add additional Stability to the existing design

We proudly call us as : SMART SAMARITANS

A team work by

Ch. Anand Anoop

V. Rajesh kumar

Ch. Sai Krishna

S Arul Frances

This is the video that is to present the full design of the model and a Power point presentation is attached for the reference too.