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Exoskeleton

Bihyungbetter·exoskeleton·pcb/Exoskeleton.kicad_pcb

Exoskeleton PCB layout, top view — open source NXP board by Bihyungbetter
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About the Exoskeleton PCB

Exoskeleton is an open source NXP PCB design by Bihyungbetter, published on GitHub. It is a 4-layer board measuring 114.3 × 134.5 mm, with 55 components from 42 distinct parts.

Its main chip is the TEENSY4.1, from the NXP family. Other key parts include the SN65HVD230 and TL431LP. By type, the board carries 19 resistors, 13 connectors, 9 capacitors, 5 diodes, 4 ICs and 2 transistors.

From the project

Exoskeleton is a powered lower-limb exoskeleton with six actuated joints — hip flexion, hip abduction, and knee flexion per leg. Each joint is driven by a CubeMars AK-series actuator (AK70-10 / AK80-64) commanded over CAN by a Teensy 4.1 running through a custom dual-CAN power di

Exoskeleton is a powered lower-limb exoskeleton with six actuated joints — hip flexion, hip abduction, and knee flexion per leg. Each joint is driven by a CubeMars AK-series actuator (AK70-10 / AK80-64) commanded over CAN by a Teensy 4.1 running through a custom dual-CAN power distribution board, which supplies six independent motor power outputs. The frame — waist, hip abductors, hip-to-thigh, thigh-to-knee, and knee-to-shank sections — is designed in SolidWorks; the electronics are designed in KiCad.

Exoskeleton, from the project README
From the project README

Main components on the Exoskeleton

TEENSY4.1SN65HVD230TL431LP

Exoskeleton bill of materials (BOM)

55 components, 42 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
TEENSY4.1
Teensy4.1
U1
2
SN65HVD230
U2, U4
1
TL431LP
U3
1
MMBT3906
Q1
1
IRFB4110
Q2
1
TERM
J2
1
PWR M1
J3
1
CANA
J4
1
PWR M2
J5
1
CANB
J6
1
PWR M3
J7
1
PWR M4
J9
1
PWR M5
J11
1
PWR M6
J13
1
TERM2
J15
1
BATT_SENSE
J16
1
DUMP_RESISTOR
J17
1
THERMAL_SW
J19
1
BF1 58V MIDI 50A (142.7010.5502)
F1
1
SW_SPDT
SW1
Show 22 more
QtyPartRefs
1
Conn_01x02_Pin
XT90PWRIN1
1
SMCJ58CA
D1
1
BAT54S
D2
1
BZX85C12
D3
1
CHOP_ACTIVE
D4
1
ES3D
D5
4
680uF 100V
C1, C2, C3, C4
1
100NF
100nF
C5
2
100NF
100nF
C6, C9
1
10uF 25V
C7
1
10NF
10nF
C8
2
120R
R1, R5
6
10K
R2, R6, R13, R16, R17, R20
1
1K
R3
2
4.7K
R7, R10
1
1K 3W
R8
2
100K
R9, R18
1
5.1K
R11
1
1K
R12
1
1M
R14
1
100
R15
1
33K
R19

Exoskeleton design files

The KiCad project lives in the Bihyungbetter/exoskeleton repository on GitHub; these links point at the commit this page was built from.

Exoskeleton: common questions

What microcontroller does the Exoskeleton use?

The Exoskeleton is built around the TEENSY4.1, from the NXP family.

How big is the Exoskeleton PCB?

The Exoskeleton measures 114.3 × 134.5 mm, has 4 copper layers and is 1.67 mm thick.

How many components are on the Exoskeleton?

55 components, from 42 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Exoskeleton design files?

From the Bihyungbetter/exoskeleton repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the Exoskeleton design in my own project?

The repository has no license, so all rights stay with Bihyungbetter. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the Exoskeleton without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug NXP firmware against it before you order a PCB.

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