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
  
 
#[[Pf users|Initialize Telemetry]]
 
#[[Pf users|Initialize Telemetry]]
−
#From wifi_fast.py command window, hit '''F4''' to unlock screens
+
#From ''wifi_fast.py'' command window, enter '''F4''' to unlock screens
−
#Check nominal torque setting:
+
#Check nominal (pyramid) torque setting:
−
## Go to sensors screen (enter '''3''')
 
 
## Have user hold foot up in the air (level)
 
## Have user hold foot up in the air (level)
−
## Hit '''Shift C''' to zero torque
+
## Go to ''sensors'' screen (enter '''3''')
 +
## Enter '''Shift C''' to zero torque
 +
## ''Note'' may need to zero torque after tuning due to drift.
 
# If foot is not level, change virtual spring setpoint/offset
 
# If foot is not level, change virtual spring setpoint/offset
−
## '''S''' moves backwards (increases angle)
+
## Have user hold foot up in the air (level)
−
## '''X''' moves fwd (decreases angle)
+
## '''s''' moves backwards (increases angle)
−
## Check '''qIq''' to insure motor current is still near zero
+
## '''x''' moves fwd (decreases angle)
 +
## 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 tuning
+
## Stiffness (Heel Strike)
 
### '''s''' increases stiffness,  '''x''' decreases stiffness
 
### '''s''' increases stiffness,  '''x''' decreases stiffness
 
## Damping
 
## Damping
 
### '''d''' increases damping,  '''c'''  decreases damping
 
### '''d''' increases damping,  '''c'''  decreases damping
−
# Late Stance adjustment
+
### ''Note'' If foot comes down too slow, increase damping
 +
# Late Stance adjustment (LS: in command window. Late_stance_imp_k in exported parameters)
 
## Stiffness
 
## Stiffness
−
### '''f''' increases
+
### '''f''' increases, '''v''' decreases
−
### '''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
+
### ''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 to the users typical torque value (on Matlab plots '''torque''')
 
## Set the PCI value to the users typical torque value (on Matlab plots '''torque''')
−
# PFF adjustment
+
# 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''' on Matlab screen
+
## Watch Matlab '''tau pff''' screen
−
## 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

Revision as of 19:04, 6 November 2009

How to perform manual tunning on the PowerFoot

  • Commands are case sensitive! Shift indicates an upper case command
  1. Initialize Telemetry
  2. From wifi_fast.py command window, enter F4 to unlock screens
  3. Check nominal (pyramid) torque setting:
    1. Have user hold foot up in the air (level)
    2. Go to sensors screen (enter 3)
    3. Enter Shift C to zero torque
    4. Note may need to zero torque after tuning due to drift.
  4. If foot is not level, change virtual spring setpoint/offset
    1. Have user hold foot up in the air (level)
    2. s moves backwards (increases angle)
    3. x moves fwd (decreases angle)
    4. Check Matlab qIq screen to insure motor current is still near zero
    5. Enter Shift Z to set the zero position
  5. Go to std screen (enter "0")
  6. Early stance adjustment (ES: in command window. Early_stance_impedance_k,b in exported parameters)
    1. Stiffness (Heel Strike)
      1. s increases stiffness, x decreases stiffness
    2. Damping
      1. d increases damping, c decreases damping
      2. Note If foot comes down too slow, increase damping
  7. Late Stance adjustment (LS: in command window. Late_stance_imp_k in exported parameters)
    1. Stiffness
      1. f increases, v decreases
      2. Note This is the K3 or "virtual spring". During dorsiflexion, loading spring. If "too light", or falling, make stiffer.
      3. Note Slow walking K needs to be more stiff, fast walking K needs to be less stiff
  8. Set Peak Pyramid Torque Threshold (PCI: or power_curve_intercep in exported parameters)
    1. Shift R increases, Shift F decreases
    2. Have the user make some typical steps
    3. Set the PCI value to the users typical torque value (on Matlab plots torque)
  9. PFF Power Plantar Flexion (PFF: or pff_torque_gain in exported parameters)
    1. Shift I increases, Shift K decreases
    2. Watch Matlab tau pff screen
    3. Note Increases very quickly! Make small increases while walking
    4. Note Start at ~70, listen for regular motor activation
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