Linghui

#: Corresponding author.

(*): Granted patent.

EPOS4/EPOS2 CanOpen Controller

EPOS2/4 CanOpen Controller project is the implementation of CanOpen with STM32f103 to communicate with EPOS4, EPOS2 or even any other system carrying CanOpen protocol. Particularly, this project can help you control portable or static multiple-motor system in realtime and low cost based on EPOS motor contorler.

Rehabilitation Exoskeleton

Rehabilitation Exoskeleton project involves in designing a lower-limb rehabilitation exoskeleton system for people with walking disorder. It has six active degree of freedoms at hip and knee joints, and three passive degree of freedoms at ankle joints. The system uses a simple STM32 MCU board as main controller, EPOS4 as motor controllers, and maxon motors as actuators. The exoskeleton combines real-time trajectory planning and motor impedence control technologies. It can regulate the individual rehabilitation trajectory and motor siffness to maxmium the effect of its rehabilitation results.

Portable Hip Exoskeleton

This project involves in designing a portable hip exoskeleton system for reducing human effort during walking. It has two active degree of freedoms at hip joints, and 6 passive degree of freedoms at hip joints and hip bandages. The system implemented real-time human motion recognition methods and Human-in-loop optimization technology through percept human kinematics signals in realtime using a simple STM32 MCU. It can precisely recognize human locomotion phase in multiply terrains and provide individual optimial assistive torque.

PGRS

This project involves in a low-cost pathological gait-recognition system (PGRS) for children. PGRS can monitor the gait pattern of a child and recognize pathological gaits which will lead to terrible diseases if left unattended, such as osteoarthritis or scoliosis. Consequently, proper therapeutic measures can be recommended to avoid the terrible consequence.