下肢康复机器人的控制系统研究  

Research on Control System for Lower Limb Rehabilitation Robot

作　　者：谭苗苗[1,2] TAN Miaomiao(Beijing Engineering Research Center of Smart Mechanical Innovation Design Service,Beijing Union University,Beijing 100027,China;College of Robotics,Beijing Union University,Beijing 100027,China)

机构地区：[1]北京联合大学北京市智能机械创新设计服务工程技术研究中心,北京100027 [2]北京联合大学机器人学院,北京100027

出　　处：《机械工程师》2022年第9期1-3,6,共4页Mechanical Engineer

基　　金：北京联合大学校级科研项目(ZK30201907)。

摘　　要：下肢康复机器人可根据指定康复指令辅助患者完成多个康复动作,达到目标关节活动角度。针对所设计的四自由度下肢康复机器人,采用基于STM32的运动控制卡为控制器,与角度传感器和肌肉信号传感器共同搭建了闭环控制系统软硬件。通过上位机指令控制机器人安全准确地完成康复动作,并记录康复数据。仿真实验表明,该控制系统能实现康复目标。The lower limb rehabilitation robot can assist the patient to complete multiple rehabilitation actions according to the specified rehabilitation instructions to achieve the target joint movement angle. For the designed four degree of freedom lower limb rehabilitation robot, the motion control card based on STM32 is used as the controller, working with angle sensor and muscle signal sensor. The software and hardware of the closed-loop control system are built. The robot is controlled to complete the rehabilitation action safely and accurately through the instructions of the upper computer, and the rehabilitation data is recorded. Simulation results show that the control system can achieve the goal of rehabilitation.

关 键 词：康复机器人 运动控制卡 闭环控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]