Implementation of Real Time Control Algorithm for Gait Assistive Exoskeleton Devices for Stroke Survivors

Controlling human gait by wearable assistive devices is a dynamic and time critical activity and thus requires a dedicated real time control environment. The paper discusses an implementation strategy for real time control algorithm for GaExoD prototype. Control approach follows gait trajectory using feedback sensors and actuators for movement control. NI Lab VIEW, Robotics, FPGA and RT module were used and prove beneficial in shorter development time. Position control errors were estimated for standing and sitting functions provided which is significantly lower for sitting function.