Referenced Paper: http://dx.doi.org/10.13031/aim.202100555
This is the core program runs on RaspberryPi to control my exoskeleton.
Hardware:
- RaspberryPi 3
- GPIO: trigger button for rotation safety
- USB: EPOS4 BLDC motor controller
- USB: HiPNUC 6-axis IMU
- Exoskeleton (files for Solidworks)
Software:
- libsvm for C++
- HiPNUC IMU serial lib for C++
- EPOS lib for C++
- Qt C++ 5.9.9
Before building this project, please install "EPOS_Linux_Library" first.
