ExoStack: A Modular and Reconfigurable Software Framework for Wearable Robotics Using ROS 2
ExoStack: A Modular and Reconfigurable Software Framework for Wearable Robotics Using ROS 2
This paper introduces ExoStack, a modular ROS 2 framework designed for wearable robotics. It links body-worn sensing to gait interpretation, assistance generation, and actuation across embedded hubs and a host computer. The framework includes an Embedded Sensing and Actuation (ESA) library that configures ESP32 boards as microROS hubs, ExoCore which provides multi-hub synchronization, gait-event detection, profile generation, motion planning, cost evaluation, and human-in-the-loop optimization, and the PASE desktop application for configuration editing and visualization. The authors characterize hub and planner timing on three embedded computers and demonstrate reuse on two pneumatic exosuits.
The authors present ExoStack, a modular ROS 2 framework for wearable robotics that configures ESP32 boards as microROS hubs and demonstrates timing characterization on three embedded computers alongside reuse on two pneumatic exosuits.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org