一种肌力训练设备的动力控制系统设计与实现  

Design and Implementation of A Power Control System for Muscle Strength Training Device

作　　者：林鑫[1,2] 李玉榕 陈建国[1,2] LIN Xin;LI Yurong;CHEN Jianguo(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou Fujian 350108,China;Fujian Key Lab of Medical Instrument and Pharmaceutical Technology,Fuzhou Fujian 350108,China)

机构地区：[1]福州大学电气工程与自动化学院,福建福州350108 [2]福建省医疗器械和医药技术重点实验室,福建福州350108

出　　处：《中国医疗设备》2021年第11期40-45,54,共7页China Medical Devices

基　　金：福建省工业与信息化厅省级创新平台康复研发设备投资补助(福建省医疗器械行业技术开发基地2017)。

摘　　要：目的设计一种肌力训练设备,用于改善肌肉力量,促进肢体障碍患者的运动功能康复。方法利用基于JAVA的上位机设置训练的参数,通过串口通信发送给控制器STM32,进而控制伺服驱动器以及伺服电机完成训练。加入扭矩传感器以及角度传感器用于采集训练过程中的力矩、角度,并发送到上位机显示。安装肘关节支架,对设计的控制系统的功能进行测试。结果等长训练时,可以保持在该位置并测量关节力矩。等张训练时,当关节力矩大于阻力矩时,开始运动。当关节力矩小于阻力矩时,停止运动。等速、被动训练时,可以保持恒定的速度运动,误差在合理的范围内。结论测试的结果说明设计的控制系统控制效果良好,能够实现四种模式的训练,后续可以应用于临床康复中。Objective To design a muscle strength training equipment to improve muscle strength and promote the rehabilitation of motor function in patients with limb disorders.Methods Used the upper computer based on JAVA to set the training parameters,and sent these data to STM32 through serial communication.Then used STM32 to control servo driver and motor to complete the training.Torque sensor and angle sensor were also added to collect the torque and angle in the training process and send them to the upper computer for display.The function of the control system was tested by installing elbow bracket.Results In isometric training,the bracket can maintain the position and measure joint torques.In isotonic training,when the joint torque is greater than the resistance moment,the bracket starts moving.When the joint torque is less than the resistance moment,the bracket stops moving.In the isokinetic and passive training,the bracket can maintain a constant speed and the error is within a reasonable range.Conclusion The test results show that the power control system has a good control effect,can realize four training modes,and can be applied to clinical rehabilitation later.

关 键 词：肌力训练 JAVA STM32 伺服电机 

分 类 号：TH77[机械工程—仪器科学与技术]