LINarm++ - D2.1 Control system architecture and components

This document is intended to present the LINarm++ architecture and control system. It is designed to face and manage all the foreseen tasks of the LINarm++ platform as: ? control of the LINarm mechatronic device called Linarm robot in the sequel ? collect, manage and display all the system data ? define and represent rehabilitation tasks and targets to care givers and patients ? control functional electrical stimulation (FES) enabling the system to support hybrid rehabilitation therapies ? infer in run-time the level of assistance needed by the patient for a certain task in his particular and actual physiological condition ? render a virtual feedback to the patient consistent to activity performed and to the task given ? synchronize activities performed by the devices of the system