Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons
This paper presents the conceptualization, design and development of a bioinspired electronic architecture based on the human motor system for the control of mobility assistance systems, such as assistance or rehabilitation exoskeletons. The proposed architecture is divided into three hierarchical l...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10327704/ |
| _version_ | 1797321109560885248 |
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| author | Gabriel Delgado-Oleas Pablo Romero-Sorozabal Julio Lora-Millan Alvaro Gutierrez Eduardo Rocon |
| author_facet | Gabriel Delgado-Oleas Pablo Romero-Sorozabal Julio Lora-Millan Alvaro Gutierrez Eduardo Rocon |
| author_sort | Gabriel Delgado-Oleas |
| collection | DOAJ |
| description | This paper presents the conceptualization, design and development of a bioinspired electronic architecture based on the human motor system for the control of mobility assistance systems, such as assistance or rehabilitation exoskeletons. The proposed architecture is divided into three hierarchical levels: perception-intention, pattern generator, and execution, facilitating modularity, scalability, and parallelism in the execution and operation of the system. ROS2 was chosen as the middleware for communication management due to its ability to handle a large amount of data, robustness, and scalability. For validation in a real world scenario, the proposal was implemented in the gait rehabilitation robotic platform Discover2Walk. Among the advantages offered by this architecture, we highlight greater modularity, improved compatibility with programming languages, and scalability, in addition to ease of supervision and control. The architecture presented can be adopted in future robotic platforms and exoskeletons with built-in interoperability. |
| first_indexed | 2024-03-08T04:52:47Z |
| format | Article |
| id | doaj.art-a8bcb999790244dca06db53116fba0c9 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-08T04:52:47Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a8bcb999790244dca06db53116fba0c92024-02-08T00:01:12ZengIEEEIEEE Access2169-35362023-01-011113161013162210.1109/ACCESS.2023.333600310327704Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in ExoskeletonsGabriel Delgado-Oleas0https://orcid.org/0000-0003-0413-9520Pablo Romero-Sorozabal1Julio Lora-Millan2Alvaro Gutierrez3https://orcid.org/0000-0001-8926-5328Eduardo Rocon4https://orcid.org/0000-0001-9618-2176Centro de Automática y Robótica, Consejo Superior de Investigaciones Científicas–Universidad Politécnica de Madrid (CSIC-UPM), Madrid, SpainCentro de Automática y Robótica, Consejo Superior de Investigaciones Científicas–Universidad Politécnica de Madrid (CSIC-UPM), Madrid, SpainElectronic Technology Department, Universidad Rey Juan Carlos, Madrid, SpainETSI Telecomunicación, Universidad Politécnica de Madrid, Madrid, SpainCentro de Automática y Robótica, Consejo Superior de Investigaciones Científicas–Universidad Politécnica de Madrid (CSIC-UPM), Madrid, SpainThis paper presents the conceptualization, design and development of a bioinspired electronic architecture based on the human motor system for the control of mobility assistance systems, such as assistance or rehabilitation exoskeletons. The proposed architecture is divided into three hierarchical levels: perception-intention, pattern generator, and execution, facilitating modularity, scalability, and parallelism in the execution and operation of the system. ROS2 was chosen as the middleware for communication management due to its ability to handle a large amount of data, robustness, and scalability. For validation in a real world scenario, the proposal was implemented in the gait rehabilitation robotic platform Discover2Walk. Among the advantages offered by this architecture, we highlight greater modularity, improved compatibility with programming languages, and scalability, in addition to ease of supervision and control. The architecture presented can be adopted in future robotic platforms and exoskeletons with built-in interoperability.https://ieeexplore.ieee.org/document/10327704/Rehabilitation technologyROS2exoskeletonsbioinspired electronicshuman gaitlower limb |
| spellingShingle | Gabriel Delgado-Oleas Pablo Romero-Sorozabal Julio Lora-Millan Alvaro Gutierrez Eduardo Rocon Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons IEEE Access Rehabilitation technology ROS2 exoskeletons bioinspired electronics human gait lower limb |
| title | Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons |
| title_full | Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons |
| title_fullStr | Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons |
| title_full_unstemmed | Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons |
| title_short | Bioinspired Hierarchical Electronic Architecture for Robotic Locomotion Assistance: Application in Exoskeletons |
| title_sort | bioinspired hierarchical electronic architecture for robotic locomotion assistance application in exoskeletons |
| topic | Rehabilitation technology ROS2 exoskeletons bioinspired electronics human gait lower limb |
| url | https://ieeexplore.ieee.org/document/10327704/ |
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