Design and Development of a Bioinspired Electronic Architecture for the control of locomotion assistance systems.

This article presents the design and development of a bio-inspired electronic architecture based on the human motor system for locomotion assistance systems, as in the case of assistive or rehabilitation exoskeletons. The proposed architecture is divided into three hierarchical levels and implemented in ROS2, facilitating modularity and parallelism in the execution and operation of the system. The proposal has been implemented in an exoskeleton prototype called Discover2Walk. The results show that the proposal can be applied to both exoskeleton applications for rehabilitation and assistance. This architecture offers greater modularity, improved compatibility with programming languages, scalability, interoperability with other robotics and automation systems, support for distributed applications, and ease of monitoring and control. The presented control architecture may be adopted in future robotic platforms and exoskeletons, improving motor control of gait and offering more personalized therapies.