Bot_Legs_Project (Exoskeleton)

by Maddoctor Apr 30, 2016
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Hi xwalker,
I would recommend Bridge nylon. It's actually really hard to break parts printed in this material and it is not as expensive a some of the composite/fibre offerings.

What 3d printed material would you suggest for exscoskeleton knee joints. The material I used broke. I might spend the time and money with metal knee joints. Thank you.

Hi Maddoctor. DRJ here

WOW what a build. I am also working in the area of Adaptive Mobility. Hopefully Open Source Lever Powered Add-On's for manual wheelchairs.
For persons with Carpal Tunnel Syndrome, Limited Hand Gripping Strength, poor upper body strength, etc.

Have time/interest in a "consult?"

BTW: Search for DRJ and DYSON on "T-Verse? for the only thing I have "Published out there"

An Air Multiplier in 2005

I work in Autodesk Inventor and have STL's as well as .JPG pics
Wallace Johnston
Shelburn, VT USA


Very good work on the DYSON...!! The area of adaptive mobility is a very interesting and worthwhile activity to engage in - particularly when shared freely with those who may benefit. I'm certainly open for discussions on such things.

3D printers open opportunities to share real things as well as ideas. We're not harnessing their full potential yet, but "T-Verse" provides us a platform where we can continue to make progress.



Hi Quixjote,

I had to google RGOs to know what they were, I'm not certain I understand the use case but the joints and printed linkages are plenty strong. Locked with a solid link rod rather than a motor I see no reason what it shouldn't fully support an average sized adult. I tested it on myself (around 85KG) and it supports my entire weight without issue.

Good afternoon! This project is greatly intriguing to me. Having used (And working on getting back in) RGO's in the past, I love the idea of something that can be made, and maintained myself. Out of curiosity: does your system support full weight bearing, or just partial? You mention in your details that it is good for partial mobility, but could it be utilized without the motors and more locking joints for no lower extremity mobility? I look forward to seeing more progress on this when you come back to it in the spring :)

Hello again,

Just another thought - It's an open source project - hopefully it will continue to be something that can be built on and developed further by the open source community going forward. Getting it to a operational state will, I hope, be a start point for such development, rather than an end point. I'm aware that an operational video may well stimulate interest and engagement from other designers.

I'll work towards that over the coming weeks.

There are some new print materials that may well add value - for now, nylon is my recommendation (I tried ABS and PLA and I didn't find them to be suitable).

All the best,


When do you feel you will finish the bot_legs project? I would like to see pics to go with a viedo of final project. Thank you

Hey Xwalker,

I've gone off the boil on the project recently - but I plan to invest some more time in it in the spring. I'll upload a video when I have it fully operational. The battery voltage changes the speed of motor movement - slower at 12V, faster at 18V. I pictured one battery mounted on each 20x20 thigh section but other configurations are possible. The choice of motor actuators changes the battery options. The motors I chose were rated for 12V but they're DC motors so can take a range of voltages. I haven't tried 20V or done any extensive duty cycle analysis but I haven't seen any snags (heat etc) running them at 18V. Check back in for updates over the coming weeks.



I would like to order a print exscoskeleton 3d bot legs. I have been paralyzed for almost 4 yr.s.
I have upper body function. I am looking to use 2 20V batteries to run 4 linier actuators. Can I run all 4 on 1 20v battery? Thank you

Greeting Ed,
I'm working on a build steps document - I've uploaded a PDF of the progress so far. I'll update it as time permits. Also Christoph posted some very useful info in response to a question I asked him on his Elecrow H Bridge driver (duino driver). I expect some progress on that front in the not too distant future.



I love this project. It has an inherent likeness with the best lower body rehab product I have seen before it, the Ekso Bionics GT which was at the DARPA robotics challenge in 2015.As I only now found a makerspace with parts I began today, printing parts at the Umakers space in Claremont with PLA filament at 100% fill density. I wonder if you have any tips for assembly. I'm looking to duplicate this design and hope to use it with crutches or a walker to give more to the physical therapy of my brother who has a cerebral palsy. He has a lot of spasticity in his lower half. Thank you for sharing this.


I'd highly recommend against using PLA. I have gone through multiple iterations of an arm prosthesis for a boy I'm helping out here in Des Moines. I started using PLA because he liked the colors. After reinforcing and reprinting the parts for it many times, I finally decided that PLA just isn't up to the job. I reprinted and rebuilt the whole thing using Taulman Alloy 910, then dyed it the colors he wanted. So far so good. These parts have a lot of stress on them and I think your brother would break them the first few times he tried using them. I recommend Taulman's Nylons, if you have a machine that can do it.


Thanks for the heads up, Brandon and Mad Doctor. A machine with nylon capability is definitely a requirement. When I sanded and glued some of the PLA mockups right away I could see that the tensile/ sheer strength was low.

Hey Brandon,

Good info on the Taulman Alloy 910. The specs look very good! I'm a big fan of Nylon in general and I've used a good number of Taulman spools over the years - always good. I haven't tried the Alloy 910 yet - but I will very soon :o)

My own experience with PLA is that it's good for ornaments, not so much for functional parts under load (at least when printed on my kit).

This looks like good advice Ed.


Thanks Lorduncan,
I'll keep at it. Refinements to the hip attachment and updates to the Arduino code are in progress.
Check back in over the coming weeks to see how it's progressing.

Really beautifull proyect
Keep working on it

Absolutely great project! Will try to help my grandma with these. Can't wait for the software!

Software coming soon.