Exoskeleton --foxy

This package is built by ROS2 foxy version, which aim to have the real-time control version.

Version: NEUX 1.0.0	Build: Environment	Size: Packages	Language: Python && C++

Run Environment

• Operating System: Ubuntu 20.04
• Robot Operate System: Foxy

Consist Packages of Project

exoskeleton_description

This package is mainly about the rviz2 for showing the state of the exoskeleton robot and visualization. The command is mainly like following and run it under the root folder in the package.

$ ros2 launch exoskeleton_description view_robot_launch.py

And this will run the rviz2 and visual the robot under it.

exoskeleton_control

This package is mainly about the Control Algorithm which could be used in exoskeleton robot. I have mainly designed the Admittance and Impedance control. There are have two mode for this Project: Software simulation and Hardware simulation.

sensor_module

This package is mainly about the Sensor to get the data of the Control Algorithm Inputs.

• IMU (Inertial Measurement Unit)
• Piezoelectric Module

joint_state_publisher

This package is developed by official and can be used to control the joint by position mode.

security_module

This package is mainly for programming the security module for this exoskeleton. And there are some tips for record data as csv file to do some treatment.

Run

Hard Ware Mode

This mode will need the IMU and Piezoelectric Sensors for get the human body state. So at first, I need to run the launch file for running the sensors.

$ ros2 launch sensor_module exoskeleton_sensor_launch.py
$ ros2 launch sensor_module human_sensor_launch.py

The first command is mainly for running the IMU Sensor which is at the link of the exoskeleton, the second command is mainly for running the IMU and Piezoelectric Sensors which is at the link of the human body.

Next, it need to run the Motor Driver to drive the motor to turn. The command is

$ ros2 run exoskeleton_control Angle_Driver

Lastly, the control algorithm is used Admittance Control and I have programmed it, can run it as

$ ros2 run exoskeleton_control Admittance_control_Hardware

For Data Visualization, the command can record the data which you needed.

$ ros2 run security_module Joint_Record

And there are some codes for visualizing the data of Sensor and Angle Driver

CSV File Description (security_module/csv_file)

This will give a description for the file.

• 1.csv
• 2(input and record).csv: This file is mainly create by the Joint_input which is in the security_module and give the motor as the range of 30 degree and to check the error and time.
• 3.csv: This file is mainly create by the Joint_Record_25 which is record the data in the mode of free time.