基于RT-Thread操作系统的上肢康复外骨骼控制系统  

Upper limb rehabilitation exoskeleton control system based on RT-Thread operating system

作　　者：许鑫 孟青云 刘观鑫[1,2] 孟巧玲 喻洪流[1,3] XU Xin;MENG Qingyun;LIU Guanxin;MENG Qiaoling;YU Hongliu(School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;School of Medical Instruments,Shanghai University of Medicine and Health Sciences,Shanghai 201318,China;Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093 [2]上海健康医学院医疗器械学院,上海201318 [3]上海理工大学康复工程与技术研究所,上海200093

出　　处：《智能计算机与应用》2023年第3期163-168,共6页Intelligent Computer and Applications

基　　金：上海市2020年度“科技创新行动计划”生物医药科技支撑专项项目(20S31905400)。

摘　　要：针对自主开发的六自由外骨骼式上肢康复机器人,设计了一种基于直流电机和实时多线程(RT-Thread)操作系统的多电机控制系统。该装置由硬件系统和软件系统部分构成。硬件系统将STM32F767作为控制器模块,可以实现外骨骼的姿态信号采集和电机控制。控制器内部集成CAN控制器和TJA1050收发器。软件系统在RT-Thread嵌入式操作系统上搭建,可实现操作系统多线程的CAN驱动移植和上肢外骨骼机器人的运动控制。经过试验证明,该系统有很好的实时性,多线程切换稳定,可以准确控制上肢外骨骼机器人的运动。A multi-motor control system based on DC motor and real-time multi-thread(RT-Thread)operating system is designed for the self-developed six-free exoskeleton upper limb rehabilitation robot.The device is composed of hardware system and software system.The hardware system takes STM32F767 as the controller module,which can realize the attitude signal acquisition and motor control of the exoskeleton.CAN controller and TJA1050 transceiver are integrated inside the controller.The software system is built on RT-Thread embedded operating system,which can realize multi-threaded CAN drive transplantation of operating system and motion control of upper limb exoskeleton robot.Experiments show that the system has good real-time performance,stable multi-thread switching,and can accurately control the motion of the upper extremity exoskeleton robot.

关 键 词：RT-Thread操作系统 CAN驱动 控制系统 上肢康复外骨骼 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构] R318.6[自动化与计算机技术—计算机科学与技术]