Study On Embedded Control System Of Auxiliary Motion Device

The purpose of the assistive motor device is to improve the weight-bearing capacity of the body and to provide rehabilitation treatment and functional compensation for patients with limb loss.With the continuous progress of artificial intelligence technology,embedded control system is widely used in the research of exoskeleton robot.The combination of embedded control system and scientific mechanical structure design makes the auxiliary motion device more intelligent,more efficient and more secure to provide comfortable wearing experience for the relevant crowd.This paper develops a set of ankle joint assistant motion equipment based on embedded control system.The main contents and research methods of the project are as follows:1)to understand the development status and research level of lower limb auxiliary motion devices at home and abroad through reading a lot of literature and books;The mechanical principle of human body moving process is studied;The gait information of human body movement process is obtained according to the distribution of foot pressure.2)I design and build hardware platform,including ARM embedded processor core control module,motor driver module,pressure sensor module,data transmission module and mechanical device.3)The software system platform of embedded control system is constructed,It mainly includes the development and transplantation of the embedded Linux operating system and the code realization of the whole function of the application layer.Operating system level software development includes:u-boot development and migration,kernal migration,file system production and migration,this topic involves hardware device driver development;The application-level software of the auxiliary motion device includes the upper computer program running on PC and the application program running on the ARM platform:the former is used to dynamically display real-time pressure and magnetic gate position value;The latter includes data acquisition and processing of sensors.C language implementation of rvm-based gait prediction model algorithm for lower limbs,prediction of gait trend using prediction model,and then driving motor to adjust gait.4)After the completion of the hardware and software development,the author do a lot of experiments on group with laboratory personnel,including no-load test experiment data acquisition mode and gait correct mode test experiment:the former not only verify the device hardware and software function is complete,also analyses the normal gait,finally collected a large number of gait data as gait prediction model of training data set,The latter carried out the wearable experiment on three wearers and recorded the gait data during the experiment.5)The data and results of the test experiment in no-load data acquisition mode and the test experiment in gait correction mode were processed and analyzed.The experimental results in no-load data acquisition mode verify that the software and hardware functions of the auxiliary motion device are complete and meet the needs of real-time gait information acquisition.Experimental results in gait correction mode verify the reliability and control accuracy of the device.The auxiliary motion device developed in this subject realizes the auxiliary motion of the control device according to the plantar pressure signal.By further improving the adjuvant exercise and rehabilitation therapy for patients with ankle joint lifting disorder.