Introduction

Welcome to MOSAIC—the Modular, Open-Source Suite for Assistive Intelligent Control—developed at the AIROB Lab at FAU Erlangen-Nürnberg. MOSAIC is an extensible, user-friendly software platform for real-time biosignal processing, device control, and rapid prototyping in assistive robotics and human-machine interfaces.

MOSAIC is a modular software suite written in C# that allows you to build, test, and visualize complex signal processing and machine learning pipelines. The system is designed for research and prototyping in fields such as prosthesis control, orthotics, rehabilitation robotics, and beyond.

Setting it up

An installation of the .NET Framework 4.8 is needed. Following NuGets are needed an can be installed through the NuGet Explorer:

  • YamlDotNet (by Antoine Aubry)
  • GraphX (by panthernet)
  • MathNet.Numerics (by Christoph Ruegg, Marcus Cuda, Jurgen Van Gael)
  • MathNet.Numerics.MKL.Win (by Christoph Ruegg, Marcus Cuda, Jurgen Van Gael)
  • MathNet.Numerics.Data.Matlab (by Christoph Ruegg, Marcus Cuda, Jurgen Van Gael)
  • Microsoft.Windows.SDK.Contracts (by Microsoft)
  • Newtonsoft.Json (by James Newton-King)
  • WebSocketSharp (by sta)
  • WebSocketSharp-netstandard (by sta)

If you do not plan to use Delsys sensors, you can safely delete or exclude the Delsys folder from your solution. This avoids any build errors related to Delsys-specific code.

If you do plan to use Delsys sensors, you need to install the following Delsys API NuGet packages manually:

  • Delsys.Driver
  • DelsysAPI
  • Signals

Steps to Install the Delsys API for .NET (optional)

Follow these instructions to set up the necessary Delsys drivers and libraries so you can build and run projects that depend on the Delsys Trigno system.

1. Install Trigno Discover

  1. Download and install Trigno Discover.
    • You do not need to use the software itself.
    • Installing Trigno Discover is required because it provides the USB driver needed for Delsys devices.

2. Download the Delsys Trigno API

  1. Clone or download the Delsys Trigno API repository from GitHub.
  2. Unzip the folder to a convenient location on your machine.

You now have local copies of the sample applications and the NuGet packages for Delsys.

3. Add the Delsys API to Your .NET Solution (e.g., imBlocks)

  1. Open your solution in Visual Studio.
  2. Open the NuGet Package Manager:
    • Go to Tools > NuGet Package Manager > Manage NuGet Packages for Solution...
    • If you don’t see the NuGet Package Manager, install it via the Visual Studio Installer.
  3. Open NuGet Settings:
    • In the Package Manager window, click the Settings (gear icon) in the top-right corner.
  4. Add a new package source:
    1. Click the green plus (+) sign to add a new source.
    2. Give it a Name (for example, DelsysLocal).
    3. Click the ... button to browse to the path where you unzipped the Delsys repo.
      • Navigate to:
        Example-Applications > C# .NET > DelsysAPI
    4. Select this folder and click OK.
  5. Enable prerelease packages:
    • Check the box for Include prerelease in the NuGet Package Manager.
    • Set Package source to All (or the new source you just created).
  6. Verify the Delsys packages:
    • Make sure the following are installed in your solution:
      • Delsys.Drivers
      • DelsysAPI
      • Signals

4. Compile the Solution

After adding these sources and ensuring the Delsys packages are installed, rebuild your solution. It should now compile without errors, assuming all other dependencies are in place.

Building and Running MOSAIC

  1. Open the MOSAIC.sln solution in Visual Studio.
  2. Build both Debug and Release configurations.
    • NuGet packages are restored automatically.
  3. The main library is mosaic_libary (no Main function).
  4. Try the main project mosaic_program (Main function in Program.cs):
    • When prompted, select an example YAML file.
    • You’ll see the interactive block table and control panels.