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exo [2019/04/01 16:55]
jfduval [Ressources]
exo [2019/05/22 13:10] (current)
jfduval
Line 1: Line 1:
-====== DpEb45 Instructions ====== +This page has been replaced by [[clients:​dpeb45|DpEb45 Instructions]]. It requires ​that you log in with your client account. If you do not have the required permissions ​please ​reach out to Dephy.
- +
-This page is for Dephy Exoskeletons with Actuator Package (ActPack) firmware. The [[dephyactpack|Dephy Actuator Package]] is a good starting point for general informationThis page will focus on what's specific to the integrated system. +
- +
-===== Batteries ===== +
-"​Batteries are not included."​ We currently do not provide the batteries and battery charger for the exo system. The battery pack connector found in the waist pack requires ​two batteries to be connected with XT60 connectors. These batteries must be identical, including age and use history. +
- +
-We recommend the following:​ +
-  * Batteries with XT60 connectors +
-  * Batteries with 4, 5 or 6 cells (14.8, 18.5, 22.2 V nominal) +
-  * Batteries capable of at least 10 A peaks +
-  * 1000 - 2500 mAh per battery +
- +
-We use the following:​ +
-  * Battery: [[https://​www.amazon.com/​Venom-2500mAh-22-2V-Battery-flite/​dp/​B017DE86GA]] +
-  * Battery Charger: [[https://​www.amazon.com/​dp/​B01D4POM6U]] +
- +
-If you would like to use batteries ​with less than 6 cells, then you must [[lowvoltageprotection|re-program the low-voltage cutoff threshold]].  +
- +
-LiPo batteries of this size are dangerous and must be handled and maintained properly! Please read [[dev|Testing with Real Hardware: Important Safety Warnings]] before doing any experiments. If you would like to use a different type of battery, we are happy to work with you to make it work.  +
- +
-===== Connectivity ===== +
- +
-A micro USB port is available at the top of the exo. This port can be used to power the low-voltage logic (mostly used for programming) and to communicate with the Plan GUI. We do not recommend connecting a USB cable when doing dynamic experiments because it's easy to pull the small connector from the PCB and that's either hard or impossible to fix. We also do not recommend using USB when using battery power, unless you are using an isolated adapter (see [[dev|Testing with Real Hardware: Important Safety Warnings]]). If you want to use USB on Windows, ​please ​make sure to install the [[stm32driver|STM32 Virtual Com Port Driver]]. +
- +
-Recommended USB cable: [[https://​www.digikey.com/​product-detail/​en/​tensility-international-corp/​10-02333/​839-1429-ND/​8323611 | Tensility 10-02333]] +
- +
-Each exo comes with a pre-configured Bluetooth module. The last 4 digits of the module'​s serial number should be visible on a label glued on the motor casing. If your label says "​E001"​ your computer will detect "​FlexSEA-E001"​. Refer to [[bluetoothconnect|Using Bluetooth]] for more information. +
- +
-===== User interface ===== +
- +
-A small, blue push-button is used to turn the exo on and off. Press and hold the button for 2s. The LED will fade ON and start blinking. Once it blinks you can release the button and the exo will stay powered. The power off procedure is similar: press and hold the button until the red LED turns off, then release. +
- +
-The Regulate RGB LED provides feedback to the user. Refer to the "For Regulate/​Battery"​ section of the [[led|RGB LED Convention]] page for the color code. +
- +
-===== Control Conventions ===== +
-Ready to make your motor move? The first step is usually to test with the Plan GUI. The [[actpackplan|Actuator Package: Plan GUI]] covers connecting, streaming, and doing basic controls. +
-==== Right Side ==== +
-  * Positive Open Speed/​Current -> dorsiflexion +
-  * Negative Open Speed/​Current -> plantarflexion +
- +
-==== Left Side ==== +
-  * Positive Open Speed/​Current -> plantarflexion +
-  * Negative Open Speed/​Current -> dorsiflexion +
- +
-===== Assembly ===== +
-==== Attaching Shin Guard ==== +
-{{:​ex-assem-1.png?​400|}} +
- +
-{{:​ex-assem-2.png?​400|}} \\  +
-{{:​ex-assem-3.png?​400|}} \\  +
-{{:​ex-assem-4.png?​400|}} \\  +
-{{:​ex-assem-5.png?​400|}} \\  +
-==== Changing Shoes ==== +
-{{:​ex-assem-6.png?​400|}} \\ +
- +
-Note that each "ankle joint clamp" has been calibrated with it's exo and cannot be swapped between exos.  +
-  +
-{{:​ex-assem-7.png?​400|}} \\  +
-{{:​ex-assem-8.png?​400|}} \\  +
-{{:​ex-assem-9.png?​400|}} \\  +
-{{:​ex-assem-10.png?​400|}} \\  +
-{{:​ex-assem-11.png?​400|}} \\  +
-{{:​ex-assem-12.png?​400|}} \\  +
-{{:​ex-assem-13.png?​400|}} \\  +
-==== Power Cables ==== +
-{{:​ex-assem-14.png?​400|}} \\  +
-{{:​ex-assem-15.png?​400|}} \\  +
-{{:​ex-assem-16.png?​400|}} \\  +
- +
-===== Datalogging ===== +
- +
-The types of data that can be logged can be found [[units|here]]. +
-===== Ressources ===== +
-  * [[plangui|Plan GUI]] +
-  * [[controlgains|Control Gains]] +
-  * [[scripts|Scripts]] +
-  * [[led|RGB LED Convention]] +
-  * [[bluetoothconnect|Using Bluetooth]] +
-  * [[actpackfirmware|Actuator Package Firmware Update]] +
-  * For Re and/or Ex firmware upgrades you will need a [[https://​www.mcmaster.com/​7440a56|T6 screwdriver]]+
exo.txt · Last modified: 2019/05/22 13:10 by jfduval