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dephyactpack [2019/10/01 20:43]
jfduval [Additional Resources]
dephyactpack [2020/07/08 17:32] (current)
bbaig [Example Applications]
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 |Terminal resistance ​ |  186 mΩ  | |Terminal resistance ​ |  186 mΩ  |
 |Terminal Inductance ​ |  138 µH  | |Terminal Inductance ​ |  138 µH  |
-|Torque Constant ​     |  ​95 mNm/A  |+|Torque Constant ​     |  ​56 mNm/A  |
 |Diameter ​            ​| ​ 87 mm  | |Diameter ​            ​| ​ 87 mm  |
 |Length ​              ​| ​ 17 mm  | |Length ​              ​| ​ 17 mm  |
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     * Note: Here are some recommendations on setting [[controlgains|control gain values]].     * Note: Here are some recommendations on setting [[controlgains|control gain values]].
   - With those functionalities verified, the [[scripts|demo scripts]] can be run. This allows the user to bypass the GUI and can serve as a template for future code in your target language.   - With those functionalities verified, the [[scripts|demo scripts]] can be run. This allows the user to bypass the GUI and can serve as a template for future code in your target language.
 +  - Before using the scripts make sure to read [[actpackuserguide|Actuator Package Software User Guide]]
  
 ===== Example Applications ===== ===== Example Applications =====
  
-  * [[https://​neurobionics.engin.umich.edu/​research/​wearable-robotics/​neurobionics-leg/​|University of Michigan'​s Neurobionics Leg]] +  * [[https://​neurobionics.engin.umich.edu/​research/​wearable-robotics/​dephy-ankle-exoskeletons/​|University of Michigan'​s Neurobionics Leg - Dephy Ankle Exoskeletons]] 
-  * [[https://​opensourceleg.engin.umich.edu/​|Open-Source Leg]]+  * [[https://​opensourceleg.engin.umich.edu/​|University of Michigan - Open-Source Leg]]
  
 ===== Tips, Tricks & Best Practice ===== ===== Tips, Tricks & Best Practice =====
  
   * Before plugging your ActPack, please review the [[dev|Important Safety Warnings]] page.   * Before plugging your ActPack, please review the [[dev|Important Safety Warnings]] page.
 +  * To get started on software read the [[actpackuserguide|Actuator Package Software User Guide]]
   * Prevent USB connector problems:   * Prevent USB connector problems:
     * Make sure that the through-hole support legs are soldered to the PCB (one CM forgot to do it). It greatly reduces the chances of ripping the connector. Contact Dephy if you need assistance with this.     * Make sure that the through-hole support legs are soldered to the PCB (one CM forgot to do it). It greatly reduces the chances of ripping the connector. Contact Dephy if you need assistance with this.
     * Whenever possible connect & disconnect the computer side of the USB cable (USB A), not the ActPack side (USB Micro B).     * Whenever possible connect & disconnect the computer side of the USB cable (USB A), not the ActPack side (USB Micro B).
-    * If you use USB other than for a bench-top experiment, you must provide strain relief on the cable.+    ​* **If you use USB other than for a bench-top experiment, you must provide strain relief on the cable.** To be clear, people have been breaking them on benchtops too, so please be extra careful.
   * Having USB connected will prevent a full power-cycle,​ even if you turn the module on & off with the push-button. After reprogramming one or more microcontrollers always do a true power cycle.   * Having USB connected will prevent a full power-cycle,​ even if you turn the module on & off with the push-button. After reprogramming one or more microcontrollers always do a true power cycle.
-  * When using Bluetooth we recommend waiting 15s between powering the circuit and starting a stream (from the GUI or the scripts). The RN-42 boots in a slow mode and transitions to fast after 10s. Starting a stream ​before ​can create issues. +  * When using Bluetooth we recommend waiting 15s between powering the circuit and starting a stream (from the GUI or the scripts). The RN-42 boots in a slow mode and transitions to fast after 10s. Starting a stream ​too soon can create issues. 
-  * If having ​Bluetooth connection problems with Windows, try restarting the Windows "​Bluetooth Support Service"​ before rebooting.+  * If there are Bluetooth connection problems with Windows, try restarting the Windows "​Bluetooth Support Service"​ before rebooting.
  
 ===== Additional Resources ===== ===== Additional Resources =====
  
 +  * [[https://​forms.gle/​imUyGk8tKbQxpcR57|ActPack/​ExoBoot Bug Report Form]]
   * {{ ::​dephy_actuator_package_datasheet_2019.pdf | Datasheet}} (PDF)   * {{ ::​dephy_actuator_package_datasheet_2019.pdf | Datasheet}} (PDF)
   * [[https://​goo.gl/​82irvp|3D files (STEP)]] (26MB)   * [[https://​goo.gl/​82irvp|3D files (STEP)]] (26MB)
dephyactpack.1569962629.txt.gz · Last modified: 2019/10/01 20:43 by jfduval