摘要
本研究开发了一种基于坐姿的下肢康复运动控制系统,该系统包括下肢外骨骼机构、电机驱动控制电路、运动控制程序等。通过6个电机为髋、膝、踝关节转动提供动力,采用PCI-1240运动控制卡作为控制核心,实现了下肢各关节重复性转动训练和步态康复训练的速度、角度和运动时间的精确控制和调节。本文试验结果表明,该运动控制系统能很好地满足下肢功能障碍患者重复性康复训练运动的需求。本文为康复训练机器人中运动控制系统提供了更多的方法数据,可促进工业自动化设备向医疗领域转变,有利于康复机器人的更进一步研究。
This article presents the design of a motion control system for seated lower-limb rehabilitation training. The system is composed of lower limb exoskeleton, motor drive circuit, program of motion control, and so forth. The power of lower limbs joints is provided by six motors. The PCI-1240 motion control card is used as the core. This study achieved repetitive rotation training and gait trajectory training of lower limbs joints, of which the velocity, angle and time can be accurately controlled and adjusted. The experimental results showed that the motion control system can meet the requirement of repetitive rehabilitation training for patients with lower limb dysfunction. This article provides a new method to the research of motion control system in rehabilitation training, which can promote industrial automation technique to be used for health care, and conducive to the further study of the rehabilitation robot.
出处
《生物医学工程学杂志》
EI
CAS
CSCD
北大核心
2017年第3期377-387,共11页
Journal of Biomedical Engineering
基金
上海市科学技术委员会科研计划项目(14441905100
15441906200)
关键词
控制系统
康复训练
康复机器人
下肢功能障碍
control system
rehabilitation training
rehabilitation robot
lower limb dysfunction
