Research And Design Of Embedded Control System Of Lower Limb Rehabilitation Robot

As an important offset of the medical robots, the research in lower limb rehabilitation robotshas run through many areas, such as rehabilitation medicine, biomechanics, sensor technology,mechanics, materials science, electronics, computer science and robotics, etc., being a hotresearch area in the field of the international robot. Higher requirements are put forward to thecontrol system of the lower limb rehabilitation robot, because its service objects focus on thespecial populations.As a main force in the post-PC era, the embedded system is a computer used for ensuringthe normal operation of specialized machinery and equipment by controlling, monitoring orassisting them. This system has been widely used in the robot control system. On basis of therequirements in mechanical system and control system, this paper puts forward the embeddedsystem of lower limb rehabilitation robots, mainly studying from the following aspects:First, this paper respectively introduces the function of lower extremity exoskeletonrehabilitation robots, weight reduction systems, and multi-environmental movement platforms.Control projects for each part are put forward according to the functions for each part, and theembedded hardware control platforms are set up according to the control projects and rules. Themicroprocessor LPC2132in the ARM7kernel is selected as a core control chip of the embeddedcontrol platform, with the design methods of circuits for each module being emphaticallyintroduced.Second, the design method for the control software of lower limb rehabilitation robots isintroduced by brings in the concept of the embedded real time operating system. First of all, thetransporting methods and processes for the embedded real time operating system－UC/OS-II isemphatically introduced. Then, tasks for each software are divided according to the function oflower limb rehabilitation robots, meanwhile each tasking software is written on basis of themodularized thought. Third, the design method of PID controller and its implementation methods on ARM areintroduced. First of all, a mathematical model for the simple joint of lower extremity exoskeletonrehabilitation robots is set up. Then, PID controller is brought in and transplanted into themicprocessor LPC2132. Finally, the simulation is conducted by making use of the SIMULINKmodule of MATLAB.Finally, the control system simulation of the lower extremity exoskeleton rehabilitationrobot and its experiments are introduced. First of all, the joint simulation environment is set upby making use of Proteus and keil. Then, the control system diagram is designed, the controlsystem is written, finally the simulation of the control system is begun.