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FlexSEA-Execute: Advanced motion controller for wearable robotic applications
Name
duval_biorob2016_flexsea_execute.pdf
Description
Accepted version
Size
619.38 KB
Format
Adobe PDF
Checksum (MD5)
bc4713c59a069b412de3899109f1d2c7
Author(s)
Duval, Jean-Francois
Herr, Hugh M.
Date Issued
June 2016
Publisher
IEEE
Citation
Duval, Jean-Francois and Herr, Hugh M. 2016. "FlexSEA-Execute: Advanced motion controller for wearable robotic applications."
Version
Author's final manuscript
Abstract
© 2016 IEEE. Wearable robots, such as powered prostheses and active exoskeletons, often rely on electric motors for actuation. Emulating biological joint angle and torque profiles requires special sensors, high peak power and advanced real-Time controls. Safety is paramount and fail-safe circuits are required to detect and correct problematic situations. A smaller, lighter circuit can lead to a more efficient and affordable robot. Few commercial motor drivers accommodate all of these requirements. In this paper we present FlexSEA-Execute (Figure 1), the advanced motion controller part of FlexSEA, the FLEXible, Scalable Electronics Architecture designed for wearable robotic applications. At 36cm3 and 34.8g, this PSoC-based design integrates a 8A/25A (continuous/pulse) brushed/brushless motor driver, a safety co-processor, multi-drop RS-485, a strain gauge amplifier, a 6-Axis inertial motion unit (IMU), USB, and a programmable expansion connector.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/biorob.2016.7523771
