Developoment of Portable Actuator for Exoskeleton Visual Sensing Integration
thesisposted on 2020-05-01, 00:00 authored by An Chi He
This study aims to build an experimental platform for portable rehabilitation devices. We start with the essential sub-systems, which are controller, communication, control algorithm, and gait sensors(Chen et al., 2016). This experimental platform allows us to examine various control strategies and gait detection approaches. Other sub-systems can be added to the existing platform once the essential part of the system is proved working. We built the system with the commercially available motor, low-level controller and end-effector, uses a real-time Ethernet-based communication protocol between the computer and the low-level controller. The control algorithm is running on an isolated physical CPU while Windows OS running on other CPUs. The control algorithm is deployed into TwinCAT (The Windows Control and Automation Technology) program which serves as a target machine.