# Design of a Generic Wearable-Robot Monitoring System (GWRMS) for Patients with Lower Limb Paralysis
## 3 Materials and Methods
### Wearable Robot  
Table 2 shows the configuration of the wearable robot. And Figure 2 shows data flow diagram showing the interactions between robot components and modules of the GWRMS. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**OS** & \multicolumn{3}{c}{**Components**} \\
**Linux** & **Motor** & **Servo** & **Skeleton** & **Etc.** \\ \hline \hline \multicolumn{4}{c}{Generic Wearable Robot Monitoring System (GWRMS)} \\ \multicolumn{4}{c}{Resource-monitoring module} \\ \multicolumn{4}{c}{Component-monitoring module} \\ \multicolumn{4}{c}{Component-control module} \\ \multicolumn{4}{c}{Status-monitoring module} \\ \multicolumn{4}{c}{Communication module} \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Components of the wearable robot that communicate with GWRMS. Figure 1: System overview of generic wearable-robot monitoring system (GWRMS). The wearable robot uses LabView, a Linux-based operating system, to control component parameters such as motors, servos, and hydraulics, as well as a GWRMS that is composed of a resource-monitoring module, a component-monitoring module, a component-control module, a status-monitoring module, and a communication module. The roles of each component are as follows. The robot in this paper is an exoskeleton-type robot that encloses the lower body. The GWRMS is composed of various modules and supports the POSIX operating system, so it can easily be used with various robot types. As most robot monitoring systems rely on specific platforms not included in the operating system, such as ROS, support for various types of embedded system hardware is insufficient. However, many robotic systems still use Linux, which is also POSIX-compliant, so the GWRMS can easily be ported to most operating systems. The resource-monitoring module reports the CPU, memory, and processing resource usage of the wearable robot to the server. The component-monitoring module reports the state of the component parameters of the wearable robot, such as upper-body tilt, plantar pressure, and motor angle, to the server. The component-control module is responsible for application of individual control modifications sent from the server to the robot. The status-monitoring module is responsible for collecting and reporting the data necessary for predicting the current status of the wearable robot to the server. The status-monitoring module collects data from the resource-monitoring module and the component-monitoring module, and then it organises and reports the data required to predict the status of the wearable robot to the communication module. TCP/IP socket communication management between the server and the wearable robot is processed by the communication module. In addition, when monitoring data are requested from the server, the communication module activates other modules of the GWRMS and transmits the data from each module to the server via a TCP/IP socket connection. Wearable robots use embedded hardware that has low processing power. Therefore, the operation of a GWRMS should not generate a level of overhead that would interfere with the normal operation of the wearable robot. Accordingly, in a GWRMS, the program used to operate the robot should be a daemon type program, and the system resources of the wearable robot should not be used when monitoring is not in progress. Regardless of the hardware specifications of the device using the GWRMS, it enters an idle state while waiting for TCP/IP communication. Therefore, it generates little overhead. In addition, even when collecting data while not in an idle state, only necessary information is collected and  
Figure 2: Data flow diagram showing the interactions between robot components and modules of the GWRMS. transmitted. All operations associated with heavy CPU-resource requirements are performed on the server, so even in a non-idle state only a small overhead is generated. This is discussed in detail in Section 4.