Congratulations to alumnus Kieran Nichols, PhD and PhD Candidate Rebecca Roembke, successfully published a paper on using CANOpen Over EtherCAT, hosted directly on the popular Raspberry Pi platform, to communicate with two high-performance Elmo Gold Twitter motor controllers to operate an upgraded, more responsive version of our Two-Axis ‘Daptable Ankle (TADA). This was a tour de force of modifying the RasPi to do high-performance time synchronization and communications, achieving much better performance of the prosthesis as a result. Great work, Kieran and Becca!
The full reference is:
K. M. Nichols, R. A. Roembke, and P. G. Adamczyk, “Real-Time Motor Control Using a Raspberry Pi, ROS, and CANopen over EtherCAT, with Application to a Semi-Active Prosthetic Ankle,” Actuators, vol. 14, no. 2, Art. no. 2, Feb. 2025, doi: 10.3390/act14020084.