haosu-robotics / flexsea

FlexSEA: Flexible, Scalable Electronics Architecture. MIT Media Lab Biomechatronics (biomech.media.mit.edu)

//****************************************************************************
// MIT Media Lab - Biomechatronics
// Jean-Francois (Jeff) Duval
// jfduval -at- media.mit.edu
// 02/2016
//****************************************************************************
// FlexSEA: Flexible & Scalable Electronics Architecture
//****************************************************************************

As of 02/10/2016, the best sources of documentation are:

• my master's thesis http://jfduval.ca/flexsea/JFDuval_Thesis_FlexSEA_Final.pdf
• my entry for the Hackaday Prize 2015 https://hackaday.io/project/5765-flexsea-wearable-robotics-toolkit

Two papers describing the system have been submitted to an IEEE Conference. Links will be added when available.

• "FlexSEA: Flexible, Scalable Electronics Architecture for Wearable Robotic Applications"
• "FlexSEA-Execute: Advanced Motion Controller for Wearable Robotic Applications"

Do not hesitate to contact me if you want to know more about the project.

// Hardware Naming Convention:
// ================================

• Plan: Embedded Computer
  • Complex algorithms, data-logging, user interfaces, ...
  • Hard/soft: BeagleBone Black running Linux. C, Python, Matlab.
• Manage: Data acquisition and mid-level computing
  • Connected to Plan. Gathers sensor data, connect to slaves
  • Hard/soft: STM32F4 Cortex-M4. C.
• Execute: Advanced Motion Controller
  • Everything linked to motion control.
  • Hard/soft: Programmable System on Chip (PSoC). C, HDL, graphical.

// Directories (alphabetical order):
// ================================

• batt: "FlexSEA-Battery" project, power analysis and datalogging.
  • Intern project, never fully completed. Use with care.
• common: Communication stack for all the boards.
• execute-cop: code for the PSoC 4 co-processor found on FlexSEA-Execute
• execute-gui-1: Qt C++ GUI to be used with FlexSEA-Execute
• execute: PSoC 5LP code for FlexSEA-Execute (motor driver)
• manage: STM32F4 Eclipse project for FlexSEA-Manage
• misc: BeagleBone Black config files, some python scripts, ...
• plan: Eclipse C project to control a FLexSEA network. Can be compiled for the BeagleBone Black or for a native Linux machine. Note that FlexSEA-GUI is based on this project.