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, “[A Lightweight Powered Elbow Exoskeleton for Manual Handling Tasks]” in IEEE Transactions on Medical Robotics and Bionics.

Parameters

Parameter index order can be found in ControllerData.h.

The parameters for this controller are:

  • 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 controls.

  • i_gain Integral gain for closed-loop controls.

  • d_gain Derivative gain for closed-loop controls.

  • 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.