Standing Actuator Apparatus - Data Acquisition and Experimental Control
Experimental Control
The experimental code was developed in Matlab. The controller was developed in Simulink and uses the xPC real-time digital signal processing system. The host computer (Spastic) loads the DSP code to the target computer (Renshaw) using Ethernet. The controller uses proportional position feedback control for each actuator.
Data Acquisition
The position, torque, and EMG data are aquired using a dynamic signal acquisition card (National Instruments 4472) on Spastic. The data is saved in the matlab workspace. Data from the angular sensors and the ultrasonic sensor is aquired in Renshaw using the A/D card (ComputerBoards PCIM-DAS1602/16). The data is loaded from Renshaw to Spastic using the xPC Target signal logging commands which imports the data into the Matlab workspace.
Wiring Diagram
A wiring diagram for the data acquisition and experimental control for both the supine ankle actuator setup and the standing setup can be seen here:
Schematic
The following diagram shows the standing actuator setup, the experimental control, and the acquisition of position, torque, and EMG signals.
Last modified: 2003-07-24 Shauna Forster