Astudillo Salinas, Darwin FabiánCórdova Cuenca, Andrés FabricioMorales Guamán, Hernán AugustoMinchala Ávila, Luis Ismael2023-10-022023-10-0220231881-803Xhttp://dspace.ucuenca.edu.ec/handle/123456789/42966https://www.scopus.com/record/display.uri?eid=2-s2.0-85148691082&origin=resultslist&sort=plf-f&src=s&sid=478bd4dbeb6d57844ad69b12a315bc2d&sot=b&sdt=b&s=TITLE-ABS-KEY%28DEPLOYMENT+OF+A+HIGH-SPEED+COMMUNICATION+NETWORK+TO+ENABLE+REAL-TIME+CONTROL+OF+A+LOWER+LIMB+ROBOTIC+EXOSKELETON%29&sl=127&sessionSearchId=478bd4dbeb6d57844ad69b12a315bc2dThis paper presents a practical approach to deploying a real-time communication network applied to a hierarchical control architecture of a lower limb robotic exoskeleton. Previous experimental results of a communication network using Controller Area Network (CAN) protocol, which uses Service Data Objects (SDO) within frames of the CAN protocol, showed some disadvantages such as non-constant sampling time and data loss. These issues are completely solved by switching SDO objects to Process Data Objects (PDO) within the CAN protocol’s frame and using a non-concurrent programming methodology for deploying the control system. Experimental results show high accuracy in the repetitiveness of the sampling time, data transmission, and high precision of open-kinematics position control of the lower limb exoskeleton prototype.es-ESLower limb robotic exoskeletonCAN networkHigh-speed communicationsPDOSDOARTÍCULO10.24507/ijicic.19.01.181