Embedded control system for stimulation-driven exoskeleton

This paper presents the design and deployment of a modular, portable and inexpensive embedded control system architecture for the hybrid neuroprosthesis (HNP). It consist of a suite of custom designed electronic hardware and firmware to provide wireless connectivity for close-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.

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