Design And Research On Control System Of Assisted Walker

Dominated by nervous and muscle systems to complete, walking movement is the necessary premise of normal life. Any abnormal part will lead to the decrease of walking ability, in serious cases a completely lost. As an assistive rehabilitation physiotherapy equipment, assisted walker can provide the old help for the walking service and give reasonable rehabilitation training to patients with hemiplegia through different modes of operation,which shows the possibility to re-stand. That's to say,the assisted walker project has good prospects for development and social significance.In this paper, the domestic and foreign developments of the intelligent wheelchairs are introduced and the existing control methods and prospects are analyzed. On base of the analysis, the structure and control solutions of assisted walker are proposed in view of existing smart wheelchairs. By use of the linear actuator, the electric cylinder regains walking power for legs. Chosen as the core, microcontroller ATmega128 realizes the control of assisted walker during different modes through the design of different modules such as the master, driven and hand operated box.In view of the overall control scheme, parts including the power, control and hand operated box are done specific hardware designs. Through the voice module, voice prompt function of the assisted walker in different states is realized. All working modes adopt the open-loop control method. Working principle and motion analysis of the drive axle on the assisted walker are described. By analyzing the principle in a certain mode, the software design of assisted walker which includes control algorithm and program flow of each mode is completed.Logic simulation of keys of hand operated box and steering control are achieved by the simulink/stateflow graphical development tools and the C code is generated by RTW.Collected by the encoders, speed of different motors is used to draw curves on the dSPACE platform, which optimizes the control of assisted walker. Prototype experiment is conducted after departing from dSPACE platform, in which hardware circuits, software and control algorithm need unified testing. At last by performance tests such as starting, stopping and slope,it's easy to make the evaluation of the control system.