Our Lokomat exoskeleton is located near the cars at 3mE. It is heavily modified and has been/will be used for a lot of research. This page is an overview of all the information on this wiki regarding our Lokomat and how to work with it.
Also see:
- Jira Project Management Page
- Azure Code Management Page
- Treadmill Code Gitlab (proprietary)
See Also:
Resources related to the hard side of the Lokomat.
Subsystems:
Some additional notes on hardware:
Using TwinCAT to connect to the locofree (base computer besides the locomat) can be used to read out more information about the hardware. Opening the front of the computer and looking at the right top, there are the motor drivers for the LinMots, labelled axis 3-6. Between these is the ethernet connection, a blue cable labelled ‘xpc’ and a yellow one labelled ‘to E1250’. Replacing the blue cable with the white one from the main computer (with Matlab and TwinCAT), the hardware info can be read. It connects to ‘Device 2’, with 3 subdivisions:
The system runs on an old version of Simulink Real-Time on a windows PC. This PC is connected to the realtime PC (xPC), to which all other devices are connected. We are using Matlab version 2013b (download here).