Design Of Lower Limb Rehabilitation Robotic Handheld Controller

In now the society, lower limb movement disorder has become a kind of common disease, and greatly troubled the people’s life. There are many ways for the treatment of this disease, but no matter what kind of treatment people take, the correct, scientific rehabilitation training is necessary. Traditional rehabilitation training methods are often relatively simple, and it is difficult to achieve the repeatability, targeted, high-intensity training requirement. So rehabilitation training robot is a good solution to this problem.Rehabilitation training robot is a comprehensive research project, which covers the automatic control, mechanical design, biomedical, and many other disciplines. The significance of rehabilitation training robot technology is that it can improve the quality of rehabilitation and increase the speed of the rehabilitation of patients and reduce the burden of social.Rehabilitation training robot systems generally consist of two parts:robot and control system. The robot body is composed of some mechanical structure which can imitate lower limb movement. And it also has sensors and safety devices in some special position. The robot is driven by motor. Traditional rehabilitation robot is controlled by the PC, which reduces the flexibility of robot, and it is inconvenient to the user. In this paper, a hand-held controller of rehabilitation robot is designed, which is based on ARM embedded system. This is a powerful robot-assisted equipment. On the one hand it can display the movement of robot, on the other hand the adjustment of the control parameters can be achieved. This hand-held device could take the place of PC, so the using of rehabilitation robot would be more simple and convenient.The design of the hand-held controller selects the STM32series low power STM32103VC enhanced processor chip, the characteristic of this chip is the quick speed and the rich I/O ports and firmware library. In order to simplify the human-computer interface, the LCD touch screen was chosen for display and operation module. Build-in SD card storage module is able to create file to store user information.In system software field, μC/OS-11embedded operating system is used for task management, and the use of μC/GUI graphical software also improve the user interface.