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FlexSEA-Plan

A project log for FlexSEA: Wearable robotics toolkit

OSHW+OSS to enable the next generation of powered prosthetic limbs and exoskeletons. Let’s make humans faster/better/stronger!

Jean-François DuvalJean-François Duval 09/07/2015 at 16:440 Comments

FlexSEA-Plan is an embedded computer used for high-level computing. It boasts a powerful processor and can run an operating system such as Linux. Developing code on this platform is similar to the regular (i.e. non-embedded) software development process. High-level languages such as Python can be used, saving experimental data is as simple as writing to a text file and interacting with the system can be done via USB or WiFi. FlexSEA-Plan should be used when ease of development is important, and when complex algorithms and control schemes require significant computing power.

The initial plan was to design a custom embedded computer with only the features required for our application. To start experimenting before designing, the BeagleBone Black was selected. It is economical ($55), widely available, open-source hardware (with full documentation available) and its processor, the TI AM3358, has two Programmable Realtime Units (PRU) that can be used to efficiently communicate with peripherals, making it a perfect reference for a custom design. By removing multimedia features and optimizing connectors its size (89 x 55 x 15.4mm) can be greatly reduced.

While the design efforts were focused on FlexSEA-Manage and FlexSEA-Execute, the Internet of Things (IoT) wave grew stronger. Smaller embedded computers were released, with price tags low enough to be embedded in typical appliances. One example is the Intel Edison. At 35 x 25 x 4mm it has a 500MHz processor, 1GB of RAM, 4GB of FLASH, Bluetooth and WiFi. It was decided not to design a custom embedded computer but to rather use a standard communication interface (SPI) that would allow the user to select any product on the market. Processing power can easily be added to the FlexSEA system as new embedded computers become available.

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