Design Of Control System Of The Lower Limb Exoskeleton Robot Based On Embedded System

Lower limb exoskeleton robot belongs to a type of robot which is committed to helping people with disabilities to rehabilitate and regain the ability of walking. It is also a new product of applying robot technology to medical field. Lower limb rehabilitation robot is able to conquer a series of disadvantages in traditional rehabilitation field. In addition to having the diversified and programmed rehabilitation processes, lower limb exoskeleton robot can record rehabilitation data to assess the walking rehabilitation level.The self-developed of lower limb exoskeleton robot is a convenient wearable and controlled robot system. It is a collection of embedded technology, robot control and bionics.The goal of this paper is to design control system for Lower limb exoskeleton robot. The control system uses a master-slave control structure that the hand controller as master device and the main controller as slave device. Therefore, The control system can provide users with user-friendly operation experience and achieve superior control performance.The hand controller and main controller adopt ARM9 series S3C2416 which is characterized with superior computing performance and strong graphic performance as the processor, in addition, the control system hardware platform includes power supply circuit,RS-232 communication circuit, network communication circuit, matrix keyboard circuit and so on. In order to ensure the control command of hand controller can send to robot quickly and accurately, design of the main controller and hand controller,main controller and robot two parts communication protocol. The data is transmitted in a fixed format, and the anti-jamming mechanism is designed to improve the stability and reliability of the communication.The main controller is oriented to exoskeleton rehabilitation robot, use multi-thread composite application program architecture nested finite state machine. Foreground main program to complete system information query, data update, determine the status of the robot safety, etc. Background thread using finite state machine for three working modes as manual operation, automatic operation and parameter configuration to ensure the robot safety and orderly running. The hand controller exploited user-oriented man-machine interfaceapplication program having functions with simplicity, friendliness and guide function based on WinCE and Android embedded system. It realizes function of authority management,operation management, parameter configuration,program teaching, condition information monitoring and abnormalities alarm to improve the user operation experience. Finally, the effectiveness and reliability of control system are verified by system testing.