Research And Design Of The Hardware Platform For Lower Limb Rehabilitation Robot

Lower limb rehabilitation robot is an important topic in the field of robotics research, as the key modules of the whole robot system; lower limb rehabilitation robot controller plays an important role in the normal training of rehabilitation. With the improvement of the robot in intelligent perception and control algorithm, lower limb rehabilitation robot has developed towards direction of intelligent; while it is important that the high performance microprocessor is used to design and develop the controller. Besides, taking account into the wearer, low power consumption and anti-vibration must be considered.A low-power controller for lower limb rehabilitation robot was designed based onthe ARM9processor in the study. The processor, S3C2410, was used as the controlcore and all the function modules of the hardware platform were designed includingCPU circuit, power module, memory module, communication and data collectionmodule, human-machine interaction module. PCBs of hardware platform weredesigned based on the principle of high-speed wiring layout. As the same time, thecharacteristics of vibration environment in human motion and the structure of thecontroller board were analyzed. And based on the analysis, anti-vibration design wasoptimized by building the finite element model of the mother board in the I-DEAS andsimulation experiments. Finally the widows Embedded CE6.0operation system wastransplanted to the hardware platform, including the development of boot loader, OEMadaptation layer, drivers of hardware device and the configuration files of operatingsystem.In the study, controller of lower limb rehabilitation with the characteristic ofvibration resistance was designed; the system has good performance in scalability andportability. The ARM9microprocessor was the core of the controller and embeddedoperating system Windows CE6.0was used as the platform of the softwaredevelopment. Besides the idea of low power consumption and anti-vibration wereapplied to the design. All the research about lower limb rehabilitation robot had play the important foundation for more complex situations later.