Hybrid-AAN-and-RAN-control

This repository contains the open source code linked to the paper: "Myoelectric and Hybrid AAN - RAN control of exoskeleton arm", introducing the two hybrid AAN/RAN controllers Performance-Adaptive Tracking-Error based Resist and Assist As Needed hybrid control (PATE-RAAN) and Directional Intent-Aware hybrid Resist and Assist As Needed hybrid control (DIA-RAAN).

Contents

This repository contains the following files:

• ControlMode.py -> contains a class used to define the two control strategies.
• HysteresisThreshold.py -> contains the hysteresis thresholding operation used.
• ILC.py -> Contains the Iterative Learning Controller.
• OIAC.py -> Contains the Online Impedance Adaption Controller.
• PATERAN.py -> Contains the AAN/RAN hybrid PATE-RAAN controller introduced in section 2.5.1 of the paper.
• DIARAAN.py -> Contains the AAN/RAN hybrid DIA-RAAN controller introduced in section 2.5.2 of the paper.
• Template.py -> A template file of a control loop, showing the intended use of the controllers, and how to implement them.

Folders:

• EMG -> Contains all the scripts for the emg processing described in the paper.

• EMGInterface.py -> Contains the code that interfaces with the Trigno Control Utility (TCU).

• EMGThread.py -> Contains the EMG processing thread running at 2000Hz.

• EMGToAngle.py -> Contains the class that converts a EMG signal to a desired angle.

• Filtering.py -> Contains a class with the implementation of the filters used.

• MVC.py -> Contains the MVC calibration script.

• Mujoco -> Contains all the MuJoCo simulation files used for simulating the control. More details in the README.txt in the folder.

Dependencies

All requirements are in the Requirements.txt file and can be installed using the following command: pip install -r requirements.txt. The only other dependencies are the OIAC controller code, which has been imported from the following repository: https://github.com/lenonrobot/Online-Impedance-Adaptation-Control by Xiong, X., & Fang, C. and the pytrigno library which can be cloned from the following repository: https://github.com/axopy/pytrigno.