A Rapid Control Prototyping and Hardware-in-the Loop Approach for Upper Limb Robotic Exoskeletons Control

• DOI: 10.3390/app14052017
• Publication Date: 2024-02-29T07:59:39Z
• Authors: Giulia Bodo; Federico Tessari; Stefano Buccelli; Matteo Laffranchi
• Keywords: Hardware-in-the-loop simulation

In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field unique development history shaped by engineers’ expertise specific programming languages or platforms. work we adopt an approach that tries abstract from final implementation with aim make control logic more shareable and understandable. The authors will present outcomes of application Rapid Control Prototyping strategy upper-limb robotic exoskeleton. A model-based design implemented on real-time target machine is presented. This modern was explored several strategies used test exoskeleton’s performances. proposed method highlights how it possible develop entire architecture single environment.