IEEE Robotics & Automation Magazine - June 2020 - 17

STUDENT'S CORNER

Exoskeleton Developed by Greek Students
Helps People With Disabilities
By Dora Fourou

he IEEE Region 8 Student and
Young Professionals (SYP)
Conference has as its primary
goal to enhance and foster
engineering sense and capabilities
through different activities, exchanging
experience and knowledge among
young professionals and students from
different parts of the world. The latest
IEEE Region 8 SYP meeting in Porto,
Portugal, was an opportunity for the
members of two IEEE Student Branches
in Greece to meet and get motivated of
what's coming next.
Sharing the same passion, Ιordanis
Kostelidis, Despoina Markoglou, Antonis Alexos, Tilemachos Tsiapras, Kokozidis Pavlos, Dimitrios Dallas, and Stella
Konstanti have been working together
since 2018 sharing the same vision: to
create an exoskeleton to help people with
disabilities, offering them the opportunity of a better and easier life.
After working dedicated for more
than one year in this demanding project, the team is ready for the next big
step, to participate at the Cybathlon
2020, with their pilot Modestos Kapinas.
In IEEE Region 8 Today (R8T), we
spoke with the team, and we share the
interesting conversation we had,
describing the birth of the idea, the
project, and their next big step.
R8T: What is an exoskeleton, and how
does it work?
A powered exoskeleton is a wearable
mobile device, powered by a group of
Digital Object Identifier 10.1109/MRA.2020.2986566
Date of current version: 10 June 2020

systems in a combination of technologies, that allows helping limp movement
with enhanced strength and endurance.
It usually consists of electric motors,
control systems, and power management and is getting powered from a
power source (battery).
Powered exoskeletons are used for
medical, military, civilian, or industrial
use. Their main objective is to give
mechanical benefits and movement to
the users. A power source (usually a
battery) provides energy to the electric
motors. The motors are controlled by a
system that tells them what to do, then
to do it and how to do it. Sensors are
placed in various positions to take measurements and communicate with the
main system for adjustments and alerts
and inform the user of the stability of
the device.
R8T: What differentiates the Hermes
exoskeleton from others?
The Hermes exoskeleton is a wearable robotic exoskeleton that can be
built from simple materials (3D-printed
parts) and known components (e.g.,
Arduino), be modular (for every user,
age, height, weight), and be maintained
by anyone. The main purpose of our
device is to help people with paraplegia
to stand, walk on straight or bumpy
ground, and ascend/descend stairs and
more generally to facilitate their daily
activities. It works four main exoskeleton motor systems, sponsored by
Maxon, controlled by a Raspberry Pi (a
low-cost, credit card-sized computer),
and the system can sense the movements of the user with various sensors,

The Hermes Team consists of IEEE
Student Members from Greece who
share a message of innovation and
dedication, developing a powered
exoskeleton for people with dis -
abilities. This article first appeared in
a slightly different form in IEEE Region
8 Today.

controlled by an Arduino board (Arduino is a simple open source motherboard with built-in microcontroller and
inputs/outputs, which can be programmed in the Wiring language). The
control of the exoskeleton movement is
achieved through a smaller controller
associated with the right crutch, where
all control buttons and the screen are.
Custom-made two-layer boards needed
to be designed for the necessary control
circuits, by Altium Designer. Necessary
simulations have been made using
MathWorks sponsored software, MATLAB. In addition, through sensors and
control systems we ensure maximum
performance and security for the user.
All of this, of course, is developed with
the potential of upgrading both hardware (boards, motors), software
(improvement of the operating system
specifically designed by us for this
application), and functional level (more
features like auto balance).
The Hermes exoskeleton is unique,
due to its design, simplicity, elegance,
and modularity. It's customizable, which
means it can be adapted to each person's
physical specifications (height and
weight). It is lightweight, durable, easy
to use, and comfortable during
its use. We achieve the best possible

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