Analysis of the Impact of Using a Non-real-Time Operating System on the Quality of the Rehabilitation Robot Control

This paper is an attempt to answer the question whether the use of a control application running on the Microsoft Windows 10 operating system to control the operation of a rehabilitation robot will not negatively affect the operation of the robot’s control system. The variability of the clocking of successive data transfers between a PC application on the Microsoft Windows 10 operating system and the control system of the ARM-200 rehabilitation robot was studied during the experiments. The impact assessment was carried out on a test rig built with a single-degree-of-freedom robot control system.