| The Multifunctional Walking Aid Robot is a kind of rehabilitative robotics, it has much application value in helping the paraplegics and the hemi-paralysis with walking aid and walk training. The aims of this article are to complete the control system design of The Multifunctional Walking Aid Robot, including the design of the hardware and the software system of controller, to analyze the controlling methods of four kinds of training mode and to complete control system test based on the semi-physical simulation platform, and the Prototype test.This paper introduces the development of the research of rehabilitative robotics, and proposes the overall programs of the Multifunctional walking aid robot. The overall plan of the control system is designed by analyzing the mechanical structure of the robot. Each motor is driven at a high speed to achieve robot motion in each mode effectively by gathering the given signals and the feedback signals of the transducer with Atmegal28 and FPGA for The Multifunctional Walking Aid Robot. The software is designed by the analysis of the rehabilitation principles in each working mode, including the position-speed control in wheelchair mode, the Open-loop control in standing-up mode, and the position-Current Control in Rehabilitation training mode. The control performance is debugged with the help of control system simulation, Matlab/ Simulink model and dSPACE.The Multifunctional Walking Aid Robot in the experiment can respond to the user's operating orders rapidly and finish each mode of rehabilitation action accurately with the characteristics of high performance real-time application, high positioning accuracy, stable operation and reliablity. The robot control system meets the design requirements, which provides the theoretical foundation and the experience for the further research. |
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