| In recent years,the development of the industrial robots has been mature and rehabilitation has become a hot research field.Thus,extending the application of industrial robots to the medication field will help the stroke patients recover sooner and better.A qualified control system for rehabilitation training can help the patients move according to the settled track as well as the motion intention of the patients themselves.In addition,if the motion parameters of the patients can be obtained,the doctors will be able to make more effective therapies.Based on the conditions above,this paper will contain several parts to introduce the control system in detail.First,this paper tells the pathogenesis and several usual treatment methods of stroke.Meanwhile,the drawbacks of those methods are included.Then the purpose of this paper is to design a control system which contains active,passive and assistive motion modes.In the active mode,the patients move independently.In the passive mode,the device drives the patient to do rehabilitation training according to the settled track.In the assistive mode,by adding the force feedback module,the device detects the motion intention of the patients,and then assists the patients move according their motion intention.In the research,PC,Maxon motors,EPOS controllers and RS232 communication line are adopted.VC++ is used when programming.Patients can choose appropriate training mode according to different stages of rehabilitation,which enhances the patients' subjective initiative to achieve human-computer interaction.The position-velocity-current three closed-loop is adopted in the control system.The current and velocity loop adopt the PI controller in both passive and assistive mode.The position loop adopts the PI controller in passive mode but chooses SMVSC(Sliding Mode Variable Structure Control)in assistive mode.This control system is of high accuracy and robustness.System simulation has proved the validity of this control system. |
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