<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2631-2654</journal-id>
<journal-title><![CDATA[Revista Digital Novasinergia]]></journal-title>
<abbrev-journal-title><![CDATA[Novasinergia]]></abbrev-journal-title>
<issn>2631-2654</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional de Chimborazo ]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2631-26542023000100095</article-id>
<article-id pub-id-type="doi">10.37135/ns.01.11.06</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Implementation and performance evaluation of a library to improve the communication with Maxon Motor's]]></article-title>
<article-title xml:lang="es"><![CDATA[Implementación y evaluación de rendimiento de una librería para mejorar la comunicación con los motores de Maxon]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Morales]]></surname>
<given-names><![CDATA[Hernan]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Cordova]]></surname>
<given-names><![CDATA[Andres]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Minchala]]></surname>
<given-names><![CDATA[Ismael]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Astudillo-Salinas]]></surname>
<given-names><![CDATA[Fabian]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad de Cuenca  ]]></institution>
<addr-line><![CDATA[Cuenca ]]></addr-line>
<country>Ecuador</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<volume>6</volume>
<numero>1</numero>
<fpage>95</fpage>
<lpage>104</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_arttext&amp;pid=S2631-26542023000100095&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_abstract&amp;pid=S2631-26542023000100095&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_pdf&amp;pid=S2631-26542023000100095&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: The development of robotic devices like exoskeletons involves using several components, such as actuators and sensors. These components exchange information with the main device or between them using a communication system; this allows data transfer during the device's operation. In addition, a communication system with good performance is the basis for the correct operation of the control system. In this context, selecting an appropriate methodology to meet design specifications during software development is necessary. This research presents the development of ALLEX CAN software, so named because it is part of the communication system of the ALLEX-2 (ALLEX version 2) prototype and uses the Controller Area Network (CAN) protocol. The system was created using the SocketCAN library as a base, which provides a range of tools to work with CAN interfaces. C++ was the programming language selected to develop this solution for its lower execution time. The performance of this software is compared with the ready-to-use functions provided by the manufacturer Maxon Motor. Experimental tests show the superior performance of our developed software.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: El desarrollo de dispositivos robóticos como los exoesqueletos implica el uso de varios componentes como actuadores y sensores. Estos componentes intercambian información con el dispositivo principal o entre ellos mediante un sistema de comunicación, esto permite la transferencia de datos durante el funcionamiento del dispositivo. Además, un sistema de comunicación con buen desempeño es la base para el correcto funcionamiento del sistema de control. En este contexto, es necesario seleccionar una metodología apropiada para cumplir con las especificaciones de diseño durante el desarrollo del software. Esta investigación presenta el desarrollo del software ALLEX (Autonomous Lower Limb Exoskeleton) CAN (Controller Area Network) software, llamado así porque forma parte del sistema de comunicación del prototipo ALLEX-2 (ALLEX versión 2) y usa el protocolo CAN. El sistema fue creado usando la librería SocketCAN por la gran cantidad de herramientas. C++ fue el lenguaje de programación elegido para el desarrollo de esta solución debido a su bajo tiempo de ejecución. El desempeño de este software se lo compara con las funciones proporcionadas por el fabricante Maxon Motor. Las pruebas experimentales muestran el rendimiento superior del software desarrollado frente al proporcionado por el fabricante.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[CAN protocol]]></kwd>
<kwd lng="en"><![CDATA[communication system]]></kwd>
<kwd lng="en"><![CDATA[Maxon Motor]]></kwd>
<kwd lng="en"><![CDATA[software]]></kwd>
<kwd lng="es"><![CDATA[Protocolo CAN]]></kwd>
<kwd lng="es"><![CDATA[sistema de comunicación]]></kwd>
<kwd lng="es"><![CDATA[motor Maxon]]></kwd>
<kwd lng="es"><![CDATA[software]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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