Control strategies for functional electrical stimulation (FES) knee movement in ROS

This work controls knee movement with four FES knee controllers (bang-bang, PID, PID-ILC and PID-extremum seeking). For a further description of materials, libraries and results, see the tutorial.

The software was tested with Ubuntu 16.04.6 LTS 64-bit Operating System, Python 2.7, and the Robot Operation System (ROS) kinetic distribution.

Software requirements

• ROS

Setup and run

1. Change permissions of the stimulator and IMU ports

   sudo chmod 777 /dev/tty/ACM0
   sudo chmod 777 /dev/tty/USB0

2. Launch the control system in terminal 1

   roslaunch ema_fes_controllers controllers.launch

3. Launch the user interface in terminal 2

   rqt

4. Start recording in terminal 3

   roscore record -a