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neurobionics/Exoboot-Controller-VAS

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284 Commits
284 Commits
Bertec_Streaming
Bertec_Streaming
 
 
GUIs
GUIs
 
 
Thermal_Characterization
Thermal_Characterization
 
 
Transmission_Ratio_Characterization
Transmission_Ratio_Characterization
 
 
treadmill_buddy
treadmill_buddy
 
 
.DS_Store
.DS_Store
 
 
.gitignore
.gitignore
 
 
Acclimation.py
Acclimation.py
 
 
ExoClass.py
ExoClass.py
 
 
GUICommunicationThread.py
GUICommunicationThread.py
 
 
Gait_State_EstimatorThread.py
Gait_State_EstimatorThread.py
 
 
GroundContact.py
GroundContact.py
 
 
GroundContact_new.py
GroundContact_new.py
 
 
README.md
README.md
 
 
SoftRTloop.py
SoftRTloop.py
 
 
VAS_MAIN.py
VAS_MAIN.py
 
 
assistance_generator.py
assistance_generator.py
 
 
bertec_communication_thread.py
bertec_communication_thread.py
 
 
config.py
config.py
 
 
gui2controller2.proto
gui2controller2.proto
 
 
gui2controller2_pb2.py
gui2controller2_pb2.py
 
 
gui2controller2_pb2.pyi
gui2controller2_pb2.pyi
 
 
gui2controller2_pb2_grpc.py
gui2controller2_pb2_grpc.py
 
 
loop.py
loop.py
 
 
rtplot_test.py
rtplot_test.py
 
 
thermal.py
thermal.py
 
 
threading_class_test.py
threading_class_test.py
 
 
utils.py
utils.py
 
 

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High-Level Overview ~

This repository contains a high-level and mid-level controller to command the Dephy EB51 Exoskeletons for an uphill walking activity. Specifically, this code is used to conduct human participant experiments to map a user value landscape for a range of exoskeleton torques.

Specifics ~

Incoming after Publication...

How to Run the Code ~

Run the 'VAS_MAIN.py' script.

Code Architecture and General Control Scheme ~

Notes on the Dephy Exoboot ~

About

A mid-level controller to command the Dephy EB-51 Exoskeletons for a study aiming to map a user value landscape for a range of exoskeleton torques.

neurobionics.robotics.umich.edu/research/biomechanical-science/developing-metrics-of-success-for-exoskeleton-evaluation/

Topics

biomechanicsexoskeletonsgui-applicationmetricspythonsensor-fusiontorque-controllerwearable-devices

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