Real-time physical layer architecture for CORBYS gait rehabilitation robot

Modern mechatronic systems present exponential evolution due to available high-end technology progress. More intelligent and more reliable systems are built, capable of sensing working environments, processing data and of autonomous decision making. Proposed Cognitive Robotic System Architecture CORBYS focuses on systems where a human is present in the robot working space and close human-robot interaction is desired. CORBYS architecture is suitable for a wide range of application areas, mentioning but not limited to, robotized vehicles, autonomous robots manipulating objects in an unstructured environment and robotic assistive devices. This work will introduce the high-levels of the architecture and describe EtherCAT based real-time physical layer for CORBYS robotic gait rehabilitation device.