Design Of Control System Of Lower Limbs Rehabilitation Training Robot

With the rapid development of rehabilitative robot technology in recent years, it has become a discipline, and it is a new application of robot technology in the field of medicine. Among rehabilitative robots, lower limb rehabilitation robot can simulate the normal gait in coordination with the treadmill, help patient to walk following a normal gait. At last, forming good conditions reflex, and by stimulating the central nervous of brain continuously to achieve rehabilitation.The task of this paper designs a set of control system of lower limb rehabilitation robot. After in-depth analysis about the lower limb bone structure and the related medical knowledge, a set of control system of lower limb rehabilitation robot is designed in this article and it is highly reliable, practical and portable. In this thesis, first of all, conducting a brief analysis of the lower limb rehabilitation robot at home and abroad, bringing forward the overall scheme of control system, and design of single leg exoskeleton; Secondly, the completion of hardware circuit design and debugging, the control programming of lower computer and the monitor routine of upper computer (LabVIEW); Finally, after studying and analyzing to control strategy of the lower limb gait rehabilitation robot in detailed, control algorithm has been verified and optimized by experiments . Experimental results show that, through the proper control strategy can effectively simulate normal walking gait of single leg, and verify the stability, reliability and practicability of the control system.In this system, high-speed C8051F040 MCU produced by Silicon Company is adopted as the host controller, writing control program in C language. Adopting PC as Monitoring equipment and writing monitor program in LabVIEW. At same time, take advantage of chip FT245RL to complete communication between upper computer and lower computer. CAN (Controller Area Network) is successfully applied to the multi-joint robot control, achieving more joints, more distance and higher speed data interaction, this is great convenient for nursing staff to remotely monitor.