Firmware and Software Documentation for OpenExo: An Open-Source Modular Exoskeleton

Prerequisites

Before installing the OpenExo library, ensure you have the following installed:

• Python 3.9 or later

• pip package manager

Installation

The easiest and quickest way to install the OpenExo library is to clone the repository directly from GitHub:

git clone https://github.com/naubiomech/OpenExo.git
cd OpenExo

Getting Started

For new users, review the Introduction and Background Info pages for an overview of the project and then begin by following the instructions in First Time Startup.

License

Hardware License

OpenExo’s hardware is released under the CERN-OHL-P v2.0 license. You may study, modify, manufacture, and distribute the hardware provided you share modifications under the same license.

Software License

OpenExo’s software is released under the GNU Lesser General Public License v3.0 (LGPL-3.0). You may use, study, share, and modify the software so long as derivative works also comply with the LGPL.

Contact & Resources

For questions, issues, or further assistance, reach out to us at:

• Email: theopenexo@gmail.com

• GitHub: https://github.com/naubiomech/OpenExo

• Website: http://theopenexo.org

• Biomechanics Lab: https://biomech.nau.edu

Tutorials:

• Introduction
• Background Info
  • Outline
  • Background
  • Introduction
  • High-Level Functionality
  • SD Card
  • Sensors
  • Displays
  • Actuators
  • Controllers
  • Bluetooth
  • Debug
  • Adding New
  • Resources
  • Known Issues
• First Time StartUp
  • Introduction
  • Walkthrough of Components
  • Downloading the Necessary Software
  • Orienting Yourself
  • Getting Ready for the First Trial
  • Conducting the First Trial
  • Troubleshooting
• Installation
  • VS Code + GitHub Quick-Start
  • Build And Flash
• Adding Elements
  • Adding a New BLE Message
  • Adding a New Board
  • Adding a New CAN Motor
  • Adding a New Controller
  • Adding a New Error Case
  • Adding New Item to Config
  • Adding a New Joint
  • Adding a New Microcontroller
  • Adding a New Motor Type
  • Adding New Sensors
  • Adding New UART Messages
  • Add Documentation
• Controllers
  • Ankle
  • Hip
  • Elbow
  • Calibration Manager Controller
  • Chirp Controller
  • Constant Torque Controller
  • Step Controller
  • Zero Torque Controller
  • Controller Subfolders by Joint
• OpenExo GUI
  • Overview
  • Minimum System Requirements
  • Installation Guide
  • General Workflow
  • Adding a Button
  • Modifying the Graphing
  • Adding a New Frame
  • Biofeedback Frame
• Gamification Template
  • Overview
  • Architecture Diagram
  • API Endpoints
  • Extending the GUI
  • Future Work
• OpenExo C++ Style Guide
  • General
  • Commenting
  • Naming
• Add Documentation
  • 0. First time trying to update ReadTheDocs
  • 1. Create a new reStructuredText (.rst) file
  • 2. Include the new page in the table of contents
  • 3. Update conf.py if needed
  • 4. Build and preview locally
  • 5. Watch the Tutorial Video