Fig. 2From: The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical studyH2 overall control architecture. All sensors in both legs are connected to the H2-Joint1 ∼6 boards that communicate to H2-ARM board through a deterministic real-time network. A Wi-Fi connection is used to capture the kinematic and kinetic data generated in the exoskeleton. A Bluetooth link connects the exoskeleton to a user interface in a smartphoneBack to article page