Real-Time Motor Control Using a Raspberry Pi, ROS, and CANopen over EtherCAT, with Application to a Semi-Active Prosthetic Ankle

Real-Time Motor Control Using a Raspberry Pi, ROS, and CANopen over EtherCAT, with Application to a Semi-Active Prosthetic Ankle

This paper focused on the implementation method and results of modifying a Raspberry Pi 4 for real-time control of brushless direct-current motors, with application in a semi-active two-axis ankle prosthesis. CANopen over EtherCAT was implemented directly on the Raspberry Pi to synchronize real-time...

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Bibliographic Details
Main Authors: Kieran M. Nichols, Rebecca A. Roembke, Peter G. Adamczyk
Format: Article
Language:English
Published: MDPI AG 2025-02-01
Series:Actuators
Subjects:
prosthesis
semi-active
motor control
Raspberry Pi
CANopen
EtherCAT
Online Access:https://www.mdpi.com/2076-0825/14/2/84
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