Work

Safety-Centric Layered Architecture for a Biped Exoskeleton

Year: 2025

Type: article

Abstract: Lower-limb exoskeletons integrate mechanical, elec trical, and software technologies to enable interaction with the external environment in a safety-critical context. These systems require real-time response, functional safety, and scalability. This paper introduces a layered sensor-actuator abstraction designed to decouple hardware-dependent services from high-level gait control logic. The proposed architecture comprises four layers: Microcontroller Abstraction (MCAL), Electronic Component Abstraction (ECAL), generic services, and the application layer. It incorporates a dual-tier diagnostic and graded protection mechanisms, achieving deterministic sensor-to-actuator latency. This approach facilitates rapid feature iteration, supports pre dictive torque assistance, and enables cloud-based rehabilitation analytics, adhering to ISO 13482 and IEC 61508 safety standards.

Source: Balneo and PRM Research Journal

DOI: 10.12680/balneo.2025.889

Authors: Andrei Bragarenco, Galina Marusic, Diana Marusic, Mihaela Rusanovschi, Gelu Onose

Institutions: Technical University of Moldova, Carol Davila University of Medicine and Pharmacy

Language: English

Topic: Prosthetics and Rehabilitation Robotics

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $215