Forum - Recent Posts https://theopenexo.nau.edu/community/ Discussion Board en-US Sun, 24 May 2026 19:59:02 +0000 wpForo 60 When I was burning the motor program, I found that I couldn't achieve motor control at all, not even being able to control the motor's movement. However, when I used the CubeMars upper computer, I was able to achieve motor control. Why is this? How... https://theopenexo.nau.edu/community/firmware/when-i-was-burning-the-motor-program-i-found-that-i-couldnt-achieve-motor-control-at-all-not-even-being-able-to-control-the-motors-movement-however-when-i-used-the-cubemars-upper-computer-i-w/#post-248 Thu, 23 Apr 2026 07:29:37 +0000 When I was burning the motor program, I found that I couldn't achieve motor control at all, not even being able to control the motor's movement. However, when I used the CubeMars upper computer, I was able to achieve motor control. Why is this? How should I debug to control the motor through Teensy? Can anyone help me? Thank you very much!

]]> iive https://theopenexo.nau.edu/community/firmware/when-i-was-burning-the-motor-program-i-found-that-i-couldnt-achieve-motor-control-at-all-not-even-being-able-to-control-the-motors-movement-however-when-i-used-the-cubemars-upper-computer-i-w/#post-248 Answer to: Mechanical Testing for 3D Printed Motor Mounts https://theopenexo.nau.edu/community/mechanical-parts/mechanical-testing-for-3d-printed-motor-mounts/#post-244 Tue, 07 Apr 2026 20:06:20 +0000 Hi Lauren,

The tests conducted consisted of a handful of 20min walk tests at a 6Nm torque setpoint for the Franks Collins controller, which is considered a fairly high setpoint. The Ad/Abduction Block (Leg Side) is most vulnerable to shear- which was the most common failure mode when inadequate carbon fiber infill was used. The Ad/Abduction Block (Leg Side) did not fail during any tests, though it does display some flex at higher setpoints, making the torque transmission slightly less effective and possibly introducing a long-term failure mode that was not encountered during testing.

One thing to note is that 9Nm (the max motor output) was considered to be excessive for the Franks Collins controller, which was the only actively used hip controller at the time. As such, testing at 9Nm was limited. Reviewing the documentation, this fact isn't clear so I'll update it now to be more accurate. 

Hope that's helpful,

Noah

]]> Noah Enlow https://theopenexo.nau.edu/community/mechanical-parts/mechanical-testing-for-3d-printed-motor-mounts/#post-244 Answer to: After we have completed the testing according to the assembly manual on the forum, we are ready to install the exoskeleton on the human body for testing. Could you please tell me what are the safe and effective steps to follow? https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-242 Fri, 03 Apr 2026 20:59:22 +0000 Apologies for the missing attachment. We've updated some of the documentation on the wiki to be more thorough and apply to all exoskeleton configurations. The steps you'll want to follow are here. You may have already performed some of the steps in the early part of the guide, but the "Orienting Yourself" and onward is necessary for a first-time startup.

]]> Noah Enlow https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-242 Answer to: Using FSR, but the motor torque is not controlled https://theopenexo.nau.edu/community/motors-and-sensors/using-fsr-but-the-motor-torque-is-not-controlled/#post-241 Fri, 03 Apr 2026 18:03:51 +0000 Hello @Huang_Enghong,

Apologies for the delayed response. The FSRs are set to calibrate for the first 5 seconds then the following 7 steps are a recalibration/check. This error has not made a notable impact on our end after the initial 5 second calibration. If this issue only occurs during calibration for your team as well we recommend adding a millis() based timer to prevent the controller from sending torque commands before the FSRs are calibrated

]]> connorg https://theopenexo.nau.edu/community/motors-and-sensors/using-fsr-but-the-motor-torque-is-not-controlled/#post-241 Answer to: After we have completed the testing according to the assembly manual on the forum, we are ready to install the exoskeleton on the human body for testing. Could you please tell me what are the safe and effective steps to follow? https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-240 Fri, 03 Apr 2026 17:43:58 +0000 Hi, here's a rough draft that my student put tighter. We will post an updated link to the wiki when it is ready. 

]]> Zachary Lerner https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-240 Answer to: Activation of the PID function https://theopenexo.nau.edu/community/motors-and-sensors/activation-of-the-pid-function/#post-239 Fri, 03 Apr 2026 17:40:51 +0000 Yes, a torque sensor is required for PID (torque feedback) control. 

]]> Zachary Lerner https://theopenexo.nau.edu/community/motors-and-sensors/activation-of-the-pid-function/#post-239 RE: After we have completed the testing according to the assembly manual on the forum, we are ready to install the exoskeleton on the human body for testing. Could you please tell me what are the safe and effective steps to follow? https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-238 Fri, 03 Apr 2026 14:47:14 +0000 wuyang https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-238 Activation of the PID function https://theopenexo.nau.edu/community/motors-and-sensors/activation-of-the-pid-function/#post-237 Thu, 02 Apr 2026 19:03:17 +0000 Is it mandatory to install a torque sensor to enable PID control？

]]> wuyang https://theopenexo.nau.edu/community/motors-and-sensors/activation-of-the-pid-function/#post-237 RE: After we have completed the testing according to the assembly manual on the forum, we are ready to install the exoskeleton on the human body for testing. Could you please tell me what are the safe and effective steps to follow? https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-236 Wed, 01 Apr 2026 00:31:22 +0000 wangchu https://theopenexo.nau.edu/community/firmware/after-we-have-completed-the-testing-according-to-the-assembly-manual-on-the-forum-we-are-ready-to-install-the-exoskeleton-on-the-human-body-for-testing-could-you-please-tell-me-what-are-the-safe-and/#post-236 Mechanical Testing for 3D Printed Motor Mounts https://theopenexo.nau.edu/community/mechanical-parts/mechanical-testing-for-3d-printed-motor-mounts/#post-235 Tue, 31 Mar 2026 09:27:32 +0000 Hi,

I am currently experimenting with and validating different 3D printing materials for the 3D Printed Motor Mounts. I was wondering if you could share what tests you conducted to validate your design using the Onyx filament.

I am specifically focusing on the hip ad/abduction block (both the hip and leg sides), as well as the motor-to-leg shell interface. What mechanical tests would you recommend for these components? Additionally, based on your testing and experience with OpenExo, what are the primary load cases acting on these parts?

Thanks,
Lauren

]]> laudew https://theopenexo.nau.edu/community/mechanical-parts/mechanical-testing-for-3d-printed-motor-mounts/#post-235