Stroke is a leading cause of disability, and robotic lower body exoskeletons have been developed to aid in gait rehabilitation. The simulation modeling and testing processes are often developed and deployed separately. This introduces additional steps which can hinder on-the-fly customization of gait patterns required for individualized gait rehabilitation. In this paper, we present a centralized control architecture which integrates both the simulated model and the exoskeleton hardware for lower body exoskeletons. The architecture allows for ease of simulating, adapting, and deploying gait patterns on an exoskeleton for use in gait rehabilitation, and allows for the on-the-fly customization and verification of gait patterns by physiotherapists during rehabilitation. Experiments validate the use of our overall control architecture to both model and control a physical exoskeleton, while following desired gait patterns.

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