Gumstix

• BiomechDocs BL Knee PFresearchE
• Biomech Documentation links:
• AKCPU2z BLMD6c BLFT6c PSER1c Imu_2010 Emg_2009 Ric Upd_pcb

• kknee1 knee2 P32_paper_project Pic32

• Wireless Radio (WIP2b)

• Microchip Tools For Coding, Programming

• Using the Powerfoot (Pf_users)

• Biomech Manual

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long term goals

• real time control of robot prosthetic
  • reads sensors (some directly connected, some accessible from other processors - eg ASYNC serial)
  • robot control statemachine isolated from the over all complexity of the (linux / gumstix) system
  • real time telemetry (plotting, datalogging)
  • real time adjustment of parameters.
  • import C code generated from matlab / simulink to run statemachine

• VMWARE build environment (w/samba share, ssh server, and gui?)

short term projects

• use Overo as an ASYNC serial to TCP bridge (replace WiPort)
  • allow for multiple TCP sessions?
  • associate with first AP in an ordered list
  • will need PCB with buck converter, ASYNC serial interface to robot (using non-standard baud rates)
  • figure out how to send and receive data over the gumstix SPI interface
  • develop driver for the SC16IS762 SPI dual uart
  • develop gumstix - robot interface hardware
    • use lab standard power and data connectors to interface with gumstix
    • battery voltage to 3.3/5V buch converter to power gumstix
    • 2 - 6 UARTs (w/non-standard high speed baudrates) to interface gumstix to multiple robotic prosthetic
    • assorted IOs such as high res ADC, DAC, PWM, and QEI interface

purchase

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