Elbow Min Max Controller

Description

This controller applies a torque to the elbow based on FSRs placed on the hand. It is meant to be used for weighted lifting.

More details on this controller can be found in:

D Colley, C. D. Bowersock, and Z. F. Lerner (2024). A Lightweight Powered Elbow Exoskeleton for Manual Handling Tasks. in IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 4, pp. 1627-1636, doi: 10.1109/TMRB.2024.3464690.

Parameters

Parameter index order can be found in ControllerData.h.

• FLEXamplitude: Torque setpoint, in Nm, for flexion assistance

• DigitFSR_threshold: Upper threshold for finger (grip) FSRs

• PalmFSR_threshold: Upper threshold for palm FSR

• DigitFSR_LOWthreshold: Lower threshold for finger (grip) FSRs

• PalmFSR_LOWthreshold: Lower threshold for palm FSR

• CaliRequest: Flag to request calibration of sensors

• TrqProfile: Flag that toggles between torque states (1 = spring, 0 = constant)

• p_gain: Proportional gain for closed-loop control

• i_gain: Integral gain for closed-loop control

• d_gain: Derivative gain for closed-loop control

• TorqueLimit: Torque safety limit, in Nm; prevents the controller from prescribing a torque larger than this value

• SpringPkTorque: Sets the maximum spring torque in Nm

• EXTamplitude: Extension torque setpoint in Nm

• FiltStrength: Sets the strength of the setpoint filter.

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