Difference between revisions of "PF Manual Tuning"
From DIDEAS Wiki
m |
|||
Line 3: | Line 3: | ||
* Commands are case sensitive! '''Shift''' indicates an upper case command | * 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, enter '''F4''' to unlock screens | #From ''wifi_fast.py'' command window, enter '''F4''' to unlock screens | ||
Line 10: | Line 11: | ||
## Enter '''Shift C''' to zero torque | ## Enter '''Shift C''' to zero torque | ||
## ''Note'' may need to zero torque after tuning due to drift. | ## ''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) | ## Have user hold foot up in the air (level) | ||
## '''s''' moves backwards (increases angle) | ## '''s''' moves backwards (increases angle) | ||
## '''x''' moves fwd (decreases 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 | ## 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 | ||
Line 21: | Line 24: | ||
### '''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 | ||
### ''Note'' If foot comes down too slow, increase damping ("foot flop") | ### ''Note'' If foot comes down too slow, increase damping ("foot flop") | ||
Line 31: | Line 35: | ||
## '''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 Power Plantar Flexion (PFF: or pff_torque_gain in exported parameters) | # PFF Power Plantar Flexion (PFF: or pff_torque_gain in exported parameters) | ||
## '''Shift I''' increases, '''Shift K''' decreases | ## '''Shift I''' increases, '''Shift K''' decreases | ||
Line 37: | Line 41: | ||
## ''Note'' Increases very quickly! Make small increases while walking | ## ''Note'' Increases very quickly! Make small increases while walking | ||
## ''Note'' Start at ~70, listen for regular motor activation | ## ''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