Download Thesis - JFDuval

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Power Execute (15-28V)
Program your Execute board with the latest firmware: Programming FlexSEA-Execute 0.1 (please
not that if you just followed Preparing the FlexSEA-Execute 0.1 board (Software) you don't have
to do this step again)
You can now stream sensor values: Read multiple sensors from Linux (Execute)
The next step is to Add and control an output device (Execute) from Linux
At this point controlling a motor is a simple task, but it requires a new wiring harness.
Introduction to FlexSEA
Abstract: FlexSEA aims to enable fast prototyping of multi-axis and multi-joint active prostheses by
developing a new modular electronics system. This system provides the required hardware and software
for precise motion control, data acquisition, and networking. Scalability is obtained by the use of a fast
industrial communication protocol between the modules, and by a standardization of the peripherals’
interfaces: it is possible to add functionalities to the system by simply plugging additional cards.
Hardware and software encapsulation is used to provide high-performance, real-time control of the
actuators while keeping the high-level algorithmic development and prototyping simple, fast, and easy.
Simplest full-stack system:
FlexSEA-Plan: Embedded computer for high-level computing. Can run a full Linux operating system and
execute Python or Matlab scripts. Can connect to the network through WiFi or Bluetooth. Currently a
BeagleBone Black (COTS).
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