The Middleware for an Exoskeleton Assisting Upper Limb Movement

Abstract

This article presents the possibilities of newly developed middleware dedicated for distributed and modular control systems. The software enables the exchange of information locally, within one control module, and globally, between many modules. The executed information exchange system speed tests confirmed the correct operation of the software. The middleware was used in the control system of the active upper-limb exoskeleton. The upper-limb rehabilitation exoskeleton structure with six degrees of mechanical freedom is presented. The tests were performed using the prototype with three joints. The drives’ models of individual joints were developed and simulated. As a result, the courses of the motion trajectory were shown for different kinds of pressure on the force sensors, and different methods of signal filtering. The tests confirmed a correct operation of middleware and drives control system.

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“…An additional advantage of this article is the discussed planning and production of the exoskeleton on the elbow, which is not often found in the literature [ 18 , 19 ], and is unique in the area of 3D-printed solutions. Most contemporary research focuses on monitoring the parameters of the rehabilitation process [ 20 , 21 , 22 , 23 ]; thus, the methodology used is quite different (e.g., principal component analysis (PCA)) [ 21 ].…”