Difference between revisions of "PF Manual Tuning"
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How to perform manual tunning on the PowerFoot | How to perform manual tunning on the PowerFoot | ||
+ | * Commands are case sensitive! '''Shift''' indicates an upper case command | ||
+ | |||
+ | #Have user hold foot up in the air (level) before turning on PowerFoot | ||
#[[Pf users|Initialize Telemetry]] | #[[Pf users|Initialize Telemetry]] | ||
− | #From wifi_fast.py command window, | + | #From ''wifi_fast.py'' command window, enter '''F4''' to unlock screens |
− | #Check nominal torque setting: | + | #Check nominal (pyramid) torque setting: |
− | |||
## Have user hold foot up in the air (level) | ## Have user hold foot up in the air (level) | ||
− | ## | + | ## Go to ''sensors'' screen (enter '''3''') |
− | # | + | ## Enter '''Shift C''' to zero torque |
− | ## ''' | + | ## ''Note'' may need to zero torque after tuning due to drift. |
− | ## ''' | + | # Change virtual spring setpoint/offset |
− | ## Check '''qIq''' to insure motor current is still near zero | + | ## Have user hold foot up in the air (level) |
+ | ## '''s''' moves backwards (increases angle) | ||
+ | ## '''x''' moves fwd (decreases angle) | ||
+ | ## Check Matlab '''qIq''' screen to insure motor current is still near zero | ||
+ | ## Have user lift heel and press toe, then hold foot in the air. | ||
+ | ## Check Matlab '''qIq''' screen to insure motor current is still near zero | ||
## Enter '''Shift Z''' to set the zero position | ## Enter '''Shift Z''' to set the zero position | ||
− | # Go to std screen (enter "0") | + | # Go to ''std'' screen (enter "0") |
− | # Early stance adjustment | + | # Early stance adjustment (ES: in command window. Early_stance_impedance_k,b in exported parameters) |
− | ## Stiffness | + | ## Stiffness (Heel Strike) |
### '''s''' increases stiffness, '''x''' decreases stiffness | ### '''s''' increases stiffness, '''x''' decreases stiffness | ||
## Damping | ## Damping | ||
+ | ### Default setting works for most users | ||
### '''d''' increases damping, '''c''' decreases damping | ### '''d''' increases damping, '''c''' decreases damping | ||
− | # Late Stance adjustment | + | ### ''Note'' If foot comes down too slow, increase damping ("foot flop") |
+ | # Late Stance adjustment (LS: in command window. Late_stance_imp_k in exported parameters) | ||
## Stiffness | ## Stiffness | ||
− | ### '''f''' increases | + | ### '''f''' increases, '''v''' decreases |
− | ### ''' | + | ### ''Note'' This is the K3 or "virtual spring". During dorsiflexion, loading spring. If "too light", or falling, make stiffer. |
− | ### Note | + | ### ''Note'' Slow walking K needs to be more stiff, fast walking K needs to be less stiff |
− | # Set Peak Torque | + | # Set Peak Pyramid Torque Threshold (PCI: or power_curve_intercep in exported parameters) |
## '''Shift R''' increases, '''Shift F''' decreases | ## '''Shift R''' increases, '''Shift F''' decreases | ||
## Have the user make some typical steps | ## Have the user make some typical steps | ||
− | ## Set the PCI value | + | ## Set the PCI value equal or just below users typical torque value (on Matlab plots '''torque''') |
− | # PFF | + | # PFF Power Plantar Flexion (PFF: or pff_torque_gain in exported parameters) |
## '''Shift I''' increases, '''Shift K''' decreases | ## '''Shift I''' increases, '''Shift K''' decreases | ||
− | ## Watch '''tau pff''' | + | ## Watch Matlab '''tau pff''' screen |
− | ## Note | + | ## ''Note'' Increases very quickly! Make small increases while walking |
+ | ## ''Note'' Start at ~70, listen for regular motor activation | ||
+ | # Turn on and adjust '''Spring Tail Setpoint''' (ENB:, TS_SP: ) | ||
+ | ## '''?''' toggles on/off | ||
+ | ## Adjust using '''>''' (more negative, more effect) or '''<''' (more positive, less effect) | ||
+ | ## At slow speeds adjust till subject feels comfortable |
Latest revision as of 18:57, 28 December 2009
How to perform manual tunning on the PowerFoot
- Commands are case sensitive! Shift indicates an upper case command
- Have user hold foot up in the air (level) before turning on PowerFoot
- Initialize Telemetry
- From wifi_fast.py command window, enter F4 to unlock screens
- Check nominal (pyramid) torque setting:
- Have user hold foot up in the air (level)
- Go to sensors screen (enter 3)
- Enter Shift C to zero torque
- Note may need to zero torque after tuning due to drift.
- Change virtual spring setpoint/offset
- Have user hold foot up in the air (level)
- s moves backwards (increases angle)
- x moves fwd (decreases angle)
- Check Matlab qIq screen to insure motor current is still near zero
- Have user lift heel and press toe, then hold foot in the air.
- Check Matlab qIq screen to insure motor current is still near zero
- Enter Shift Z to set the zero position
- Go to std screen (enter "0")
- Early stance adjustment (ES: in command window. Early_stance_impedance_k,b in exported parameters)
- Stiffness (Heel Strike)
- s increases stiffness, x decreases stiffness
- Damping
- Default setting works for most users
- d increases damping, c decreases damping
- Note If foot comes down too slow, increase damping ("foot flop")
- Stiffness (Heel Strike)
- Late Stance adjustment (LS: in command window. Late_stance_imp_k in exported parameters)
- Stiffness
- f increases, v decreases
- Note This is the K3 or "virtual spring". During dorsiflexion, loading spring. If "too light", or falling, make stiffer.
- Note Slow walking K needs to be more stiff, fast walking K needs to be less stiff
- Stiffness
- Set Peak Pyramid Torque Threshold (PCI: or power_curve_intercep in exported parameters)
- Shift R increases, Shift F decreases
- Have the user make some typical steps
- Set the PCI value equal or just below users typical torque value (on Matlab plots torque)
- PFF Power Plantar Flexion (PFF: or pff_torque_gain in exported parameters)
- Shift I increases, Shift K decreases
- Watch Matlab tau pff screen
- Note Increases very quickly! Make small increases while walking
- Note Start at ~70, listen for regular motor activation
- Turn on and adjust Spring Tail Setpoint (ENB:, TS_SP: )
- ? toggles on/off
- Adjust using > (more negative, more effect) or < (more positive, less effect)
- At slow speeds adjust till subject feels comfortable