MyoRobotics Documentation

This document describes the use of the MyoRobotics toolkit, including assembly of muscle units, joints and bones, as well as configuration and control of through the Flexray interface.

This documentation is compiled from documentation produced by the concluded FP7 ICT MyoRobotics Project, the ongoing Roboy Project at TU Munich , Embedded Robotic Systems and the Fraunhofer IPA.

License

It has never been decided to assign a license to this work.

The code is owned by TU Munich.

The CAD designs are owned by Fraunhofer IPA.

The main documentation for the site is organized into a couple sections:

• Using MyoRobotics

• Installation

• Suppliers and Partners

Using MyoRobotics

• Installation
  • Cabling and Power
  • Software Installation
• Troubleshooting
  • Could not connect to the myo motor: device not opened

Myo Toolbox

• 1. Introduction
• 2. Overview
• 3. Content of the design primitive library
  • 3.1. Organization and description of the library elements
  • 3.2. Overview of the implemented library elements
• 4. Accessories
  • 4.1. Structural Bond
  • 4.2. Anchor – Fastener
  • 4.3. Cable attachment
• 5. MYO-Bone
  • 5.1. MYO-Bone
  • 5.2. Type 2 – Monolithic core
• 6. MYO-Muscle
  • 6.1. Type 0: Passive Muscle
  • 6.2. Type 1: Unilateral Series Elastic Actuator
• 7. MYO-Joint
  • 7.1. Type 1: Symmetric Hinge
  • 7.2. Type 2: Asymmetric Hinge
  • 7.3. Type 3 – Pivot
  • 7.4. Type 4: Hinge-Pivot
  • 7.5. Type 5: Hinge-Hinge
• 8. Joint Sensor Board
  • 8.1. Connectivity
  • 8.2. Calibration Procedure
• 9. Motor Driver
  • 9.1. Spring Displacement Sensor
  • 9.2. Driver Board Mounting
  • 9.3. Connectivity
• 10. MYO-Ganglion
  • 10.1. Addressing
• 11. USB-FlexRay Bridge
• 12. Other developments
  • 12.1. Alternative concept for the MYO-Bone design
  • 12.2. Ball-and-socket joint
  • 12.3. Alternative concept for MYO-Muscle design using leaf spring
  • 12.4. Bi-articular muscle modules
  • 12.5. Scaling of selected design primitives
  • 12.6. Injection Moulding

Production & Assembly

• 1. Overview
• 2. Bones
  • 2.1. MyoBone ‘Parallel Assemblies’ - Four Round Tube Fibres
  • 2.2. MyoBone ‘Monolithic’ - T-Slot Profile Fraunhofer
  • 2.3. MyoBone ‘20mm bone’ Monolithic Profile - GI Mod
• 3. Joints
  • 3.1. J22 Symmetric Joint
• 4. Muscles
  • 4.1. Muscle Mod Non-CE
• 5. Applications
  • 5.1. MyoArm

Control, Software

• 1. Firmware, FlexrayUSBInterface
  • 1.1. Configuring a Controller
  • 1.2. Communication Timing
• 2. Introduction
• 3. Hardware Description
  • 3.1. Principles
  • 3.2. Modules
  • 3.3. Connectivity
• 4. Software
  • 4.1. Communication
  • 4.2. Motor Drivers
  • 4.3. Controller
  • 4.4. Parameter Modification and Modes
• 5. Controller Tests
  • 5.1. Position Motor Control
  • 5.2. Velocity Motor Control
  • 5.3. Position Control of 1-DOF Arm

Suppliers and Partners

• Embedded Robotic Systems
• General Interfaces
• Fraunhofer IPA
• Roboy