ASRTG_SA Source Code

Title:

Adaptive Symmetry Reference Trajectory Generation in Shared Autonomy for Active Knee Orthosis

Author:

Rongkai Liu, Tingting Ma, Ningguang Yao, Hao Li, Xinyan Zhao, Yu Wang, Hongqing Pan, Quanjjun Song

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Version Note

Version：V2.1
Update time：1/18/2023
Operating environment：Ubuntu 20.04 LTS / Windows 10
Language：python 3.8

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Platform

Linux:

Modify import DSP.build.DSP_Fun as DSP_Fun in pyDSP.py

Win:

Modify import DSP.build.DSP_CPP as DSP_Fun in pyDSP.py

Install Dependency Packages

pip install -r requirements.txt

File Description

• Folder: DSP
  C++ code for digital signal processing. Designed by simulink and packaged with pybind11.
  
• Folder: temp
  The GKL data that was built by the offline demonstration
• Folder: TestData
  Offline test data for proposed framework.
• ASRTG_SA.ipynb
  An offline example of the proposed framework, running with jupyter notebook.
• DataLoader.py
  Offline data loading module.
• Hopf_Oscillator.py
  Dynamic model of Hopf coupled oscillator
• ODEs.py
  Numerical calculation of ordinary differential equations.
• Output_Dynamic_System.py
  pDMP model implementation.
• pyDSP.py
  Used for the DSP module initialization.