A Control Software Framework for Wearable Mechatronic Devices

摘要

The rapid growth of wearable mechatronic devices for motion assistance applications has created a demand for tools that assist with control software development. The wearable mechatronics-enabled control software (WearMECS) framework is proposed as a software development tool for the control systems of these devices. The WearMECS framework was developed to support both software design and implementation. Control software has been developed using the framework that supports various motion tasks, control system models, and wearable mechatronic devices. In this research, the control systems developed with the framework have resulted in some of the lowest elbow motion tracking errors in the literature. The framework has also helped to increase the efficiency of experimental evaluations and the comparison of control components. The versatility of the WearMECS framework provides control system developers with a foundation to build upon, while maintaining their creative freedom. This framework provides a platform that supports the continued growth and improvement of control systems for wearable assistive devices.