The supplementary materials provided include the necessary files to facilitate the design, fabrication, assembly, and operation of the Integrated Modular Wearable Sensing System for Lower-Limb Exoskeleton Design. 

These materials include:

1. PCB Design Files (.brd and .sch) for the fabrication of printed circuit boards for the Data Acqusition System.
2. CAD Files from SolidWorks containing the assembly and subassemblies for the lower-extremity exoskeleton, including 3D printable parts.
3. 3D Printing Parameters (LEE_3D_Printing_Fabrication_Parameters.xls) for each part of the exoskeleton for fabrication via 3D printing.
4. Arduino Open-Source Codes for running the data acquisition system, including the collection of kinematics data from upper body IMUs, lower body kinematics from exoskeleton encoders, and kinetic data 
   (VGRF and COP) from pressure-sensitive insoles.

Software:

PCB files: Compatible with PCB design software (e.g., Eagle, KiCad, Altium Designer).
CAD files: SolidWorks.
Arduino Code: Arduino IDE, compatible with any Arduino board (e.g., Uno, Mega Trinket).

Fabrication:

PCB fabrication: Suitable for use with any CNC-PCB fabrication machine supporting .brd and .sch file formats.
3D Printing: Files are designed for 3D printing using PC filament and FFM techology (e.g. ultimaker 2).
Arduino Environment: Requires Arduino IDE (version 1.8 or newer).

Descriptions:

1. PCB Design Files:
.brd and .sch Files: These files represent the printed circuit board (PCB) design for the lower-extremity exoskeletonÕs data acquisition system connection shields. The .sch file contains the schematic, and the .brd file contains the layout for PCB fabrication.

2. CAD Files:
   SolidWorks Assembly Files (.sldasm): These files contain the assembly and subassemblies for the lower-extremity exoskeleton, representing all parts that need to be 3D printed and assembled.
   Parts Files (.sldprt): These files contain individual parts from the exoskeleton.
   Important: Make sure to check the scaling of parts and assembly to ensure proper fit during assembly.

3. 3D Printing Parameters:
   A separate .xls file (LEE_3D_Printing_Fabrication_Parameters.xls) with recommended printing parameters for each part of the exoskeleton. This includes:
   Layer height
   Infill percentage
   Support structures
   Printing speed
   Material type (e.g., PLA, ABS,PC)
   Note: The printing parameters are optimized for Ultimaker 2+ and may need adjustment based on the specific 3D printer model used.

4. Arduino Open-Source Codes:
   Arduino Code: The Arduino code provided is used to operate the data acquisition system for the lower-extremity exoskeleton. It includes:
   Upper Body Kinematics: Code for reading and synchronizing data for 8 IMUs attached to the upper body.
   Lower Body Kinematics: Code for reading data from six encoders attached to the lower-extremity exoskeleton.
   VGRF and COP: Code to acquire the foot contact force data from pressure-sensitive insoles, estimate the total VGRF and COP.
   The code is modular, allowing for easy customization and integration with different hardware. Make sure to modify the code based on your hardware setup.

Setup and Run Instructions:

1. PCB Fabrication:
Open the provided .brd and .sch files in your preferred PCB design software.
Customize the design (if needed) for your specific hardware.
Export the files for fabrication or send the design directly to your PCB manufacturer.
2. CAD File Setup:
Open the provided CAD files in SolidWorks or a compatible CAD program.
Check the assembly and subassemblies for any required modifications.
Use the 3D parts files to prepare for 3D printing.
Export individual parts for 3D printing and ensure that the print settings (layer height, infill, etc.) match the provided parameters.
3. 3D Printing:
Import each part into your 3D printer slicing software (e.g., Cura).
Set the printing parameters as provided in the 3D Printing Parameters file.
Print each part according to the instructions. Ensure proper calibration of the 3D printer for accurate parts.
4. Arduino Code Setup:
Open the Arduino IDE and load the appropriate code (e.g., 6enc_nrf_TX_code.ino, IMU1v8t.ino, VGRF_COP.ino).
Modify the following sections in the code:
Serial Port: Identify the serial port where your Arduino is connected (e.g., COM4) and modify the myPort variable in the code.
Baud Rate: Ensure the baud rate set in the code matches the rate of your Arduino device.
Sensor Input Configuration: Adjust any parameters related to your sensors (IMUs, encoders, pressure sensors) based on their specific setup.
Upload the code to the Arduino board using the IDE.
5. Data Acquisition:
Once the Arduino code is uploaded and running, the system will begin acquiring data.
The data from the IMUs, encoders, and pressure sensors will be available for live visualization and analysis.
You can use additional software or serial monitor tools to log and display the data in real-time.
Output Description:

Contact Information:

joo.h.kim@nyu.edu and isanzpena@ccny.cuny.edu

This file is provided as a guideline for setting up and using the materials for the design, fabrication, and data acquisition system of the lower-extremity exoskeleton. Ensure that you follow all safety and operational guidelines when assembling the system.