Research On Control System Of The Horizontal Lower Limbs Rehabilitative Robot

Rehabilitative robot research has been developed rapidly in recent years, foreign country is more developed than china in this area. Research on Control System of the Horizontal Lower Limbs Rehabilitative Robot has the significant meaning to the rehabilitative robot development of the nation.In this paper, analysed development and application of the rehabilitative robot in the future, improved mechanical structure of the robot, researched and invented the control system of the Horizontal Lower Limbs Rehabilitative Robot.Mechanical structure of the robot was improved according to the ergonomics theory. It can offer better rehabilitative effect for the sufferer. The choice of encoders and electromotors is very important. The precision of encoder and driving force need to achieve the demand of the sufferer in rehabilitation process.The design for Control System of the Horizontal Lower Limbs Rehabilitative Robot is the core of the paper. The control system was based on the dSPACE platform. The control model was established by MatLab/Simulink; When the control model was established, using the dSPACE real-time platform and ControlDesk software adjust the PI parameters. Generated the standard C code form dSPACE's RTW function and transformed the code to AVR mega16 and PC controlling system.Designed rehabilitative robot control interface for the sufferer. Applying Microsoft Visual C++6.0 designed the communications and control interface. Achieved speed adjust, position adjust and mode select function. The sufferer can select particular mode according to his/her needs.Based on the experiment data and simulation result, The Horizontal Lower Limbs Rehabilitative Robot was achieved the designing target.