| One of the most important branch of medical rehabilitation robot, with its unique meaning and value, along with the trend of an aging population, has become a hot area of robotics research.Improving the recovery rate of patients and the quality of patient rehabilitation, reducing the social burden has great research value and significance. With the rapid development of embedded network technology, and gradually applied to the lower limb rehabilitation robot, rehabilitation robot network has become an important research direction in the field of rehabilitation.Embedded systems has a smaller kernel, streamlined system, strong specificity, high real-time characteristics.In this paper, ARM and μC/OS-II network lower limb rehabilitation robot control system is studied, the main tasks are as follows:Firstly, choose ARM7 processor as an experimental platform, edit μC/OS-II starts and porting code, succed in porting μC/OS-II to ARM7 processor.μC/OS-II operating system has a very streamlined kernel, strong reliability and real-time performance, combined with open source code, reduce research costs.Using μC/OS-II to manage and schedule task to ensure the reliability and stability of embedded systems.Secondly, introduct the open source TCP/IP protocol stack Lw IP, port LwIP protocol stack to the ARM7 and μC/OS-II platform, support embedded devices to access network,achieve information exchange of embedded control and the remote computer.Simplify the migration process by designing Lw IP operating system emulation layer, while maintaining the main functions of network protocols, but also reduce the occupancy of the RAM.In this paper, LPC2132 is the hardware platform, through porting μC/OS-II and Lw IP protocol stack for embedded network equipment, Lower limb rehabilitation robot control system achieve the architecture of μC/OS-II + LwIP and not only the lower limb rehabilitation robot rehabilitation is stable, but also remote rehabilitation can be achieved. |
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