(forgot to actually publish something like a month ago)
Distributed actuator control and diagnostic sensor network thereof
DACADSNT for short. That’s down right Dickens.
But really, setup an actuator to fiction like a muscle group. Common per rails for all actuators in the limb. Networked daisy chain for communication. Motor drivers world be located at the motor themselves. Limited fault handling at the actuator, think like when you touch something hot that your arm pulls away. Continuous low bit density feedback to the main system. If the cyborgism got large enough, have a way for the same unit to switch from a local controller to an intermediate junction. A promotion mechanic would be good. That or a granularity gradient that changes with usage.
Sensors:
- Current (stall or freewheel)
- Bend on associated levers (is the bone broken or breaking)
- Temperature (an I on fire)
- Loss of signal
- Loss of power (caps to provide one last blip of pain)
- Connection to it’s fellows (did the arm fall off)