Introducing the Biomechatronics lab's newest powered prosthesis controller! Developed by Dan Levine, Tony Shu, and myself, this is a single board computer system optimized for driving powered prosthetic limbs. It features GPIO, ADCs for analog input, SPI, I2C, and high-speed CAN ports. During my early time at Biomechatronics, I developed firmware for this system (in C++), including communication (spi, I2C) drivers and the data logger. I modified the linux device tree to appropriately define our system configuration. Finally, I worked extensively with integrating the system with the TF8 powered prosthetic ankle. This included designing new hardstops, electronics mounts, wiring harnesses, and heatsinks. The gif above shows a basic impedance controller running on the new verdin system.
Please see the attached presentation for more details about my work on the controller.