Open Source Leg

The Open-Source Leg project aims to accelerate research in the field of lower-limb robotic prostheses by providing a common research platform to the field. Senthur Ayyappan, a rockstar mechanical designer and software engineer, currently maintains and leads the project along with PI Elliott Rouse at the University of Michigan. Full CAD design files, software libraries, and other resources are available to the public to use free of charge. See www.opensourceleg.org for more information.

In addition to helping Senthur with the OSL library development, I’ve worked on creating controllers for the OSL. This paper details a control approach I developed that accounts for some of the inherent drivetrain dynamics of the OSL, allowing it to perform accurate impedance control. We’ve also released the Data-Driven Impedance Controller discussed above for public download from the OSL Website so that other researchers can use it, benchmark against it, and build upon it.