Upper Limb Muscle Rehabilitation Training Device Control System Design

The intelligence and informatization of rehabilitation training devices is the direction for modern medicine’s development and is a combination of traditional rehabilitation theories and autonomous control technologies.It has made remarkable achievements after decades of development.Based on the theory of muscle rehabilitation and the unfulfilled market of muscle rehabilitation training devices,this paper put forward a set of rehabilitation training system of upper body muscle with friendly human-machine interaction and reasonable control structure.First,according to the functional requirements of rehabilitation training,,the overall design of rehabilitation training devices system was proposed.Then the overall structure of the system and the structure of each subsystem were analyzed,and the overall framework and design of the embedded control system and the human-computer interaction system were established.Secondly,an embedded control system with STM32F103C8T6 as the master control chip was designed.In this system,the data acquisition module contained multiple detection essential modules to collect patient training data;the servo control module was responsible for establishing communication between the motor and the master control chip to realize the control of the motor by the master chip;wireless communication module uploaded the collected data by wireless transceiver equipment to the upper computer.Thirdly,the human-machine interaction system was completed.Based on the.NET framework,a patient information management module was designed in VS2010 with the help of Mysql database to manage patient’s personal information and training information;motion monitoring module which was based on wireless communication and double buffering mapping technology was used to display the patient’s various training indicators on the human-machine interface;data analysis module which was based on historicaltraining data was used to analyze patient recovery situation.The upper computer software basically meets the needs of physicians and provides a platform for analyzing the muscle recovery of patients.Finally,based on the study of the mechanical structure and control structure of the system,the establishment and application of the active assisted control model of the rehabilitation training devices was completed.The pressure sensor was used to detect the force between the patient and the apparatus.The relationship between the force and the mechanical joint’s velocity was obtained according to the active assisted control model to control output torque of the joint,achieving the servo motor torque control.Afterwards,the feasibility and practicality of the system was verified by experimental studies on different training modes by using the system designed in this paper as an experimental platform.