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RT$\_$Stim : Real-Time simulation for functional electrical Stimulation

Daniel Simon 1 Samy Lafnoune 2
1 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Hybrid simulation architecture gathering in a single framework and consistent time scales both the numerical integration of the continuous model of a bio-mechanical system (bones, joints and muscles) and a model of the hardware and software control architecture, including control tasks, communication protocols and real-time schedulers. Simulation run in real-time when possible, and otherwise consistent time scales are generated. The framework is intended to seamlessly evolve from purely software models to hardware-in-the-loop simulation.
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Submitted on : Friday, April 5, 2019 - 2:59:16 PM
Last modification on : Wednesday, November 3, 2021 - 7:45:25 AM



Daniel Simon, Samy Lafnoune. RT$\_$Stim : Real-Time simulation for functional electrical Stimulation. 2019. ⟨hal-02091230⟩



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