Design And Development Of Control System For Sitting Lower Limb Rehabilitation Robot

The number of patients with lower limb motor dysfunction caused by diseases such as central nervous system damage is increasing,which brings heavy burden to society.Research shows that these groups need scientific and regular rehabilitation training of lower limbs besides early medication.However,traditional training methods are inefficient and can not guarantee the rehabilitation effect.Robot-assisted lower limb rehabilitation training can replace the guidance of physicians to help patients with training,which has high accuracy and can greatly improve the training effect and efficiency.In this paper,according to the basic requirements of rehabilitation training for patients with lower limb motor dysfunction,a sitting lower limb rehabilitation robot control system is designed and developed.The rehabilitation cycle of patients is divided into stages,and three different rehabilitation control strategies are determined according to the performance characteristics of patients at different stages.According to the need of the system control scheme,this paper designs and chooses the hardware system,uses STM32F103ZET6 as the processing chip of the control system and designs its peripheral module circuit,uses AC servo motor as the power source of the whole system,realizes different rehabilitation control strategies by controlling the operation mode of the motor,and uses touch screen as the human-computer interaction interface.Real-time response to patients'rehabilitation training status,fully mobilize patients' enthusiasm for training.At the same time,the control system software is designed reasonably,including the program design and implementation of system driver,system task and touch screen,and the tasks of motor control,data communication and human-computer interaction under different rehabilitation training modes are completed.On the basis of theoretical research,the hardware experimental environment is preliminarily built,and the performance test of the system software and hardware is carried out.Empirical analysis shows that the sitting lower limb rehabilitation robot system can complete various control tasks well,run stably and respond quickly,and achieve the desired goal.