IIT Rehab Collaboration

This project is a collaboration with IIT. Our team was tasked with integrating our controller into their software for their exo-suit.

Install

To install the library run: pip install iit-rehab

Development

0. Install Poetry
1. make init to create the virtual environment and install dependencies
2. make format to format the code and check for errors
3. make test to run the test suite
4. make clean to delete the temporary files and directories
5. poetry publish --build to build and publish to https://pypi.org/project/iit-rehab

Usage

"""Basic usage for our module."""

def main() -> None:
    """Run a simple demonstration."""
    # Initialize system
    estimator = GaitPhaseEstimator(AOParameters())
    controller = LowLevelController()
    plotter = RealtimeAOPlotter() if args.real_time else None

    if plotter:
        logger.info("Starting Dash app for real-time plotting.")
        plotter.run()

    logger.info("Replaying log file with controller.")
    time_data, theta_il, theta_hat, phi_gp, omegas = run_controller_loop(
        log_data, estimator, controller, plotter=plotter
    )

if __name__ == "__main__":
    main()

Connecting to RaspberryPi

There is no static IP address, so you will need to connect the device to a monitor first. On powerup, the IP address is shown so if you are quick, you won't need a keyboard or mouse to find it with ifconfig -a

I suggest copying files with rsync: rsync -auv rehab@<IP_ADDR>:~/Desktop ~/Desktop/rehab_iit

Connect to rehab with the above IP address while using featherexo as the password.

ssh rehab@10.183.89.195

Results

The plot below shows the results being plotted in real time.

The plot below shows the results of plotting an entire saved dataset.