Embedded Control System for Stimulation-Driven Exoskeleton
Abstract
This paper presents the design and deployment of a modular, portable and inexpensive embedded control system architecture for the hybrid neuroprosthesis (HNP). It consists of a suite of custom designed electronic hardware and firmware to provide wireless connectivity for closed-loop control with mechanical exoskeletal constraints and neural stimulation with provisions for power assist to restore locomotion functions for individuals with spinal cord injury (SCI). The design philosophy, methodology, and implementation are described and discussed in details. Bench testing and subject experimentation have been conducted to evaluate the performance of the HNP system. We conclude that the embedded control system meets the technical requirements and design criteria, and can thus be considered as a potential reference design for generic biomedical research and clinical deployment in the neuroprosthetic and exoskeleton fields.
BibTeX
@conference{Li-2018-105212,author = {Lu Li, John R. Schnellenberger, Mark J. Nandor, Sarah R. Chang, Kevin M. Foglyano, Ryan-David Reyes, Rudi Kobetic, Musa Audu, Ronald J. Triolo, and Roger D. Quinn},
title = {Embedded Control System for Stimulation-Driven Exoskeleton},
booktitle = {Proceedings of International Symposium on Medical Robotics (ISMR '18)},
year = {2018},
month = {March},
keywords = {Assistive, Rehabilitation, Exoskeleton, Hybrid Neuroprosthesis, Spinal Cord Injury, Embedded System},
}