Study On The Control System Of Lower Limbs Rehabilitative And Fitness Robot

As increasing number of hemiplegic stroke patients and rising trend of ageing population, lower limbs rehabilitative robot gradually became a hot research area in colleges and research institutions. This dissertation mainly studies on the control system of lower limbs rehabilitative and fitness robot, after analysis on domestic and international current situation and characteristics itself, come up with an intelligent terminal wireless control system. Rehabilitative and fitness training mechanism is installed on both sides of wheel chair or ordinary chair and using the tablet computer or smart phone to operate them. This control system has the features of small volume, stable performance, and good human-computer interaction, easy to use and so on.Firstly, according to the theory that brain also still has a certain degree of plasticity around the damaged area, opposite sides or remoteness place, and in order to avoid secondary injury of limb, this dissertation proposes a control method at a constant speed of pedal position. Using simulation software ADAMS analyzes the speed curve relationship between crank and pedal position, according to analysis results, coming up with function of pedal position velocity and crank angular velocity, and piecewise fitting them in Matlab, then verified the fitting results in the simulation software ADAMS. The simulation results show that this method achieves the desired result; providing an idea for the speed control of lower limb rehabilitation mechanism and laying a foundation for further study.Secondly, according to lower limbs rehabilitative and fitness robot’s mechanical structure, also rehabilitation fitness training needs of its functional requirements, its functional requirements is presented. Analysis for the overall function and performance of control system, designed the solutions of the control system:using upper and lower control mode, using the Tablet PC wireless intelligent terminals as upper controller, ARM32-bit Cortex-M3kernel micro controller unit as lower controller.Finally, to begin with the hardware design, then design software, designed and developed of lower limbs rehabilitative and fitness robot embedded control systems. The hardware of control system including MCU minimum system circuit, memory module circuit, Wi-Fi module circuit, Hall sensor circuit, the heart rate signal acquisition circuit and motor-driven interface circuit. Lower control system software designing mainly includes embedded operating system porting, testing, the tasks division and design, and determining the priority of each task, then the task schedulability analysis.After developed hardware and software of the control system, tested some hardware circuit module in order to make sure them reliable, combined with overall debugging of software systems, the final of this study of lower limbs rehabilitative and fitness robot embedded control system is able to meet the requirements.