Servo Control System

The control system for the REKLAB ankle actuator uses the xPC DSP System. This is a host-target control system, where the host (Spindle) compiles and loads DSP code onto the target (Renshaw), which executes the code in real-time.

Controller source code (as Simulink models) live on Spindle:\\d:\BMED_Tools\xPC_controller

Notes

Andrej Kozakiewicz's Master's Thesis "Impedance Control of an Electrohydraulic Actuator Interacting with a Human Ankle Joint: A New Experimental Setup for Studying Ankle Dynamic Stiffness During Voluntary Movements" (1999) contains the work done to develop the impedance controller for the actuator. Check the REKLAB Library for on-line info. Otherwise, a copy of his thesis is available in the lab.
Jan. 30/2001: The Transputer board implementing the controller on REKCTL has had chronic connection problems. Often, it will not be recognized by the OS, probably due to a bad connection. As of yet, there have been no fixes other than fiddling with the card and praying.

Document History

Last modified: Dec 21 2001 JYT