# Conception of a System-on-Chip (SoC) Platform to Enable EMG-Guided Robotic Neurorehabilitation
## 1 Introduction  
Mobility is an integral part of human life that we often take for granted until it is compromised by an injury or disability. It is estimated that approximately 15 % of the global population suffers from some form of disability. Considering Spain's current population of approximately 48.95 million, it is notable that in 2020, 4.38 million individualsreported having some form of disability. Among these, mobility-related disabilities--such as a difficulty or inability to move or handle objects--were the most prevalent, affecting 38.9 % of men and 68.5 % of women. These mobility difficulties, due to various illnesses, significantly affect the quality of life and the ability to perform daily activities for those affected. Among these individuals, a not very numerous group (500,000 people per year worldwide in 2013 and 915 individuals in total in 2021 in Spain) but particularly vulnerable are those with spinal cord injuries. These injuries, typically caused by traffic accidents, falls, or sports injuries, can result in a total or partial loss of motor function, often leading to a significant loss of independence and autonomy, and it is common for them to result in depression and a higher risk of premature death. Among existing spinal cord injuries, the only ones that have a potential to regaining mobility to some degree are those where there has not been total damage to the spinal cord; in other words, the so-called \"incomplete spinal cord injuries\" [1]. Incomplete spinal cord injury encompasses a wide range of symptoms and levels of disability, making treatment and rehabilitation a complex challenge. Traditionally, treatments to improve mobility in patients with incomplete spinal cord injuries have focused on traditional physiotherapy, which includes specific physical exercises and rehabilitation techniques to strengthen weakened muscles and improve motor function. Although these treatments have proven effective in many cases, their success largely depends on the severity of the injury and the individual patient's responsiveness [1; 2]. In recent decades, there have been significant advances in the field of motor rehabilitation, particularly with therapies based on exoskeletons [1; 2; 3; 4; 5; 6]. These mobility robotic aids have revolutionized the way we approach rehabilitation for patients with incomplete spinal cord injuries and other diseases that affect movement. Exoskeletons are designed to provide patients with support and assistance for controlled movement, enabling them to perform movements that would otherwise be impossible [1; 2; 3; 4; 5; 6]. When comparing conventional methods with exoskeleton-based approaches, it is difficult to establish which method is more effective for patient rehabilitation [2]. The use of exoskeletons in spinal cord injury rehabilitation holds promise in improving motor function through activation of neuroplasticity processes. While they do not directly induce axon or tissue regeneration, their ability to facilitate movement repetition and improve physical independence contributes to neural reorganization and enhances residual mobility. Integrating them with other therapies, such as electrical stimulation or stem cell treatments, could further enhance these effects, helping to restore motor functions in patients with spinal cord injuries [1; 2]. Robotic exoskeletons are mechanical devices designed to attach to the human body and assist, enhance, or support movement, typically powered by electric actuators. These devices are widely used in rehabilitation to help patients regain mobility through controlled and repetitive movements [7; 8]. An advantage of exoskeleton-assisted methods (EAM) is that rehabilitation sessions can be significantly extended, they eliminate the need to account for physiotherapist fatigue during exercises. However, this does not appear to result in improved outcomes.