Control system for a robotic walking simulator

The control system for a robotic walking simulator and rehabilitation device requires enhanced operation modes and control capabilities, compared to conventional industrial robot controllers. In order to be able to implement custom made algorithms at all levels of the controller and to have an extensible and reusable control environment, we decided to develop a full-featured robot control soft and hardware, including a graphical user interface (GUI), as a modular and open system. This paper describes the newly developed robot and simulator controller, including the graphical user interface, especially those features which distinguish it from conventional robot controllers.