Gressus — Gait Feedback System

Gressus (Latin step, progress) is is the core software platform delivered alongside the P.GEAR exoskeleton. It serves as the unified interface that bridges exoskeleton control, patient management, and therapy analytics. The operator runs clinical sessions from a web client. The backend stores patients and session records. A ROS runtime on the same machine controls the P.GEAR exoskeleton, runs sensor stacks, and writes session data to disk. Demonstrated at KIHE-2026 (Almaty, 20–22 May 2026).

Tech Stack

Backend

Frontend

Runtime & Deploy

Quick start

Prerequisites: Docker, Docker Compose, .env (see .env.example if present).

docker compose up -d --build

URL	Service
http://localhost:5173	Web client
http://localhost:8000/docs	Backend API (OpenAPI)
http://127.0.0.1:9090/session/status	Session manager (ROS container)

Production-style frontend build: set IS_DEBUG=false in docker-compose.yml or compose env.

Interactive shell inside the ROS container:

docker compose exec ros2 bash

Stop everything:

docker compose down

Local development without Docker is possible per component — see linked docs below.

Documentation

Document	Contents
docs/architecture.md	Frontend ↔ backend ↔ ROS, session lifecycle
docs/BACKEND.md	FastAPI modules, runtime API, backend layout
docs/ROS.md	Launch files, session manager, P.GEAR node
backend/README.md	Backend coding conventions
ros2_ws/src/gressus_pgear/README.md	Exoskeleton node and ESP32 protocol
docs/system-spec.md	Hardware rig and RealSense pipeline
docs/occlusion-and-treadmill.md	Projector tile game (optional visual feedback)
docs/roadmap.md	Development priorities
third_party/README.md	Vendored dependencies (pgear_tools)