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.
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.