Study Of The Control System Of Upper And Lower Limb Rehabilitation Robot

Rehabilitation of stroke patients has been paid much attention in the field of rehabilitation,patients need to adhere to long-term treatment,but the treatment of traditional mode is high labor costs,therefore,introducing the robot technology into the training will significantly improve the efficiency.In this paper,combining with the robot technology in the rehabilitation treatment,complete the design of control system based on the mechanical structure,provide scientific and reasonable treatment for different patients.Through the design of the upper and lower limb rehabilitation training system,help the patients to complete rehabilitation training of upper limb and lower limb.Determine the overall scheme of the control system of the upper and lower limb rehabilitation training device.Based on the analysis of the characteristics and shortcomings of the domestic and foreign rehabilitation robot,according to the mechanical structure of the device,this paper proposes the functional requirements of the rehabilitation training,and safety requirements of designing process of the device control system,complete the overall scheme of the device control system design,complete the design of control system of upper monitor and lower machine.Design the control system hardware circuit of device lower machine.Based on the ARM microprocessor,complete the design of CAN communication and RS232 serial communication control circuit,and the circuit design of H type reversible PWM drive mode.Complete the design of the overcurrent protection circuit and over temperature protection circuit,complete the design of voice protection,protection of heart rate and the selection of voice prompt.Studty the hierarchical intelligent control algorithm of the device.The organization level controller use RBF neural network,through the Matlab simulation analyse,determine the feasibility of the controller.Analysis the passive and active logic,complete passive and active design program of the coordination level,complete speed closed loop controller and the resistance of closed loop controller design of the execution level.Putting up the experimental environment with d SPACE,uC/OSIII embedded operating system,and Simulink/Stateflow,complete the driving motor model parameters identifying and comparative analysis of the design of controller parameters.Using the VS2005 MFC tools to write upper monitor software,develop experimental prototype,and complete active/passive switching experiments and spasticity experiments of the device in the different training speed and resistance,the experimental results proves the effectiveness of the active /passive control strategy.