Implementation and validation of CAN-Bus communication framework for a multi-joint lower limb exoskeleton

In recent years, lower-limb exoskeletons have emerged as a promising technology for assisting individuals with severe mobility impairments and supporting rehabilitation. However, their application outside controlled environments remains limited due to challenges such as reliance on pre-programmed gait patterns, difficulty adapting to variable terrains, and non-intuitive control interfaces. This thesis is developed within the INTELLEXO project that aims at realizing a novel open-source lower limb exoskeleton platform for boosting research on intelligent exoskeletons for ourdoor applications. This thesis presents the implementation and validation of a CAN-Bus communication framework for a multi-joint lower-limb exoskeleton prototype. The system incorporates four motorized joints—two at the hips and two at the knees—each equipped with magnetic encoders and torque sensors to enable precise feedback and control. The main contribution of this work is the design of a scalable motion control architecture based on real-time communication. A Teensy 4.1 microcontroller was employed to handle computation and coordination, while the CAN-Bus framework ensured reliable and synchronized data exchange between sensors, drivers, and control units. Motor-level field-oriented control (FOC) was combined with higher-level PID-based velocity and position regulation, establishing an efficient and modular control system suitable for multi-joint coordination. The results of this development provide a validated communication and control framework that can be extended to adaptive strategies and future gait assistance applications. By focusing on reliable data exchange and synchronized motor control, this work contributes to advancing the feasibility of outdoor-capable exoskeletons and lays the groundwork for further research in intelligent assistive robotics.