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panda_prosthesis

This repository gathers controllers centered around the development and evaluation of Orthosis medical devices. It contains two controllers:

  • PandaProsthesis is a controller dedicated to the evaluation of BoneTag's capacitive sensors. The aim is to provide non-invasive imaging of in-patient knee prosthesis.
  • PandaBrace is a controller dedicated to the evaluation of experiemental medical Orthosis devices. The aim is to use a robotics setup to quantify how an Orhosis reduces the applied forces on the knee joints.

Building with superbuild

You can add the panda-prosthesis-superbuild to your superbuild extension folder:

The following options are available:

  • WITH_PANDA_BRACE:BOOL: Whether to build the PandaBrace controller and its related dependencies
  • WITH_MC_RTC_ATI_DAQ:BOOL: [optional in simulation/required for real experiments] Whether to build the AtiDaq plugin. This plugin allows to acquire ATI force sensor data plugged to a data acquisition card.
  • WITH_PHIDGET_PRESSURE_SENSOR_PLUGIN:BOOL: [optional in simulation/required for real experiments] Whether to build the PhidgetPressureSensor plugin. This plugin is used to read pressure data from the Orthesis
  • WITH_TACTILE_FORCE_SENSOR_PLUGIN:BOOL: [optional] Whether to build the TactileForceSensor plugin. This allows reading of pressure sensors placed on the surface of the tibia joint.
cd mc-rtc-superbuild/extensions
git clone https://github.com/arntanguy/panda-prosthesis-superbuild.git
cd ../build
make # clone and build dependencies with superbuild

PandaProsthesis (BoneTag demo)

PandaProsthesis image

For details on how to use the PandaProsthesis controller, see PandaProsthesis documentation

PandaBrace (Lea's Orthesis demo)

PandaBrace image

For details on how to use the PandaBrace controller, see PandaBrace documentation