Design Of Lower Limbs Rehabilitation Training Robot Control System Based On ARM

At present,the problem of aging has been widely concerned in many countries.At the same time,the disturbance of limb movement caused by the damage of the central nervous system has a great influence on their daily life.Experiments show that training can improve plasticity by purposeful,scientific and repetitive training.The traditional rehabilitation equipment has complex structure,single training mode and high cost.Various parameters in rehabilitation training can not be accurately measured.So it is necessary to combine traditional medical rehabilitation theory with advanced sensor technology,robot technology and control theory.This paper designs a lower limb rehabilitation training device for knee joint passive training,which realizes the control of multiple platforms and various training modes.This paper analyzes the design requirements of the lower limb rehabilitation training robot,selects the components of each component,then sets up a whole system scheme,and establishes a dynamic model of the man-machine system by using the Lagrange method.In combination with the simulation analysis of MATLAB/Simulink,the corresponding simulation model of the control system is constructed and the adaptive fuzzy PID algorithm is studied.The trajectory tracking control of the subjects was carried out,and the control effect and performance were compared with the conventional PID analysis.The detailed design of hardware and software is given.ARM microcontroller STM32F407 is the basis of hardware design,modularized design of power supply,human-computer interaction,MCU minimum system,data acquisition,data communication and storage and other related module circuits.A perceptive system including contact switch,encoder,attitude sensor and pressure sensor is realized.It can display and record the patient’straining data in real time in detail,and provide accurate feedback reference for the control system.The software of hierarchical design control system,transplant the embedded real-time operating system uCOSⅢ,design the driver of the underlying hardware,and combine the middleware such as STemWin,study the transplantation and application of the GUI graphics library STemWin in the control system design,and design the application layer of the motor control,the data communication and the human-computer interaction,and the application layer of the control system,and the design of the application layer of the motor control,data communication and human-computer interaction.Intelligent Android mobile phone receives data transmitted by wireless communication of WiFi module,and realizes remote control of APP terminal.After testing,the lower limb rehabilitation training robot achieves the desired effect.