ENPM640 Final Project

Team members: Aditya Varadaraj, Saurabh Palande, Jeffin Johny, Prateek Verma

Libraries required: Scipy(odeint) Numpy Matplotlib

Instructions:

1. Unzip the code.zip file containing the code files.

2. To run the code for fixed stiffness:

   $ python3 fixed_stiffness.py

3. To run the code for adaptive stiffness:

   $ python3 adaptive_stiffness.py

4. To run the code for force feedback:

   $ python3 force_feedback.py

5. To run the code for enhancement 1:

   $ python3 enhancement_1.py

Additional information:

• All the parameters used in the code are in the file params.py in the Utils folder. The results/plots are stored in the Results folder.

• This code is designed for any number of movements(going up and going down) i.e., dorsiflexions and plantarflexions.

• To change the number of movements modify the “n_movements” parameter in the respective files as needed.