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Research on Control System of the Horizontal Lower Limbs Rehabilitative Robot

Author: ZhaoWeiWei
Tutor: ZhangLiXun
School: Harbin Engineering University
Course: Mechanical and Electronic Engineering
Keywords: Horizontal lower limb rehabilitation robot dSPACE MatLab / Simulink Real-time simulation
CLC: TH789
Type: Master's thesis
Year: 2007
Downloads: 508
Quote: 10
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Abstract


Abroad rehabilitation robot developed , while the domestic rehabilitation robot is now still in its infancy . The horizontal lower limb rehabilitation robot control system , has positive significance for the development of domestic rehabilitation robot . This paper analyzes the development status quo and its application prospects of rehabilitation robot at home and abroad , and carried out research and improvement of the horizontal lower limb rehabilitation robot mechanism , in-depth research and design of the control system . The main contents are as follows : the improved design of the institutions . According to ergonomic principles , the structure of the the horizontal lower limb rehabilitation robot , to enable them to better training for the rehabilitation of patients . The choice of motor and encoder and hardware circuit design can provide sufficient driving force and precision , to reach the precise and powerful rehabilitation patients . Developed the horizontal lower limb rehabilitation robot control system . The control system is good or bad is the rehabilitation robotics whether key difference between ordinary rehabilitation . The horizontal lower extremity rehabilitation robot is developed based on dSPACE . First, with the dSPACE system identification , Matlab SISO controller design , controller commissioning is completed , to establish control model using MatLab / Simulink , dSPACE real-time simulation features and ControlDesk powerful real time adjust the control parameters , so as to achieve the control requirements. Simulation experiments to verify the reliability and accuracy of design debugging after last dSPACE 's RTW in standard C code , slightly modified program ported to the microcontroller and PC control system . PC control interface design is designed according to the needs of the patient . Application of Microsoft's Visual C 6.0 for the design and control of the host computer communication interface design . Can achieve the speed of adjustment , position adjustment and multi- mode selection , so that patients choose their suitable rehabilitation mode , so as to achieve rehabilitation goals . View from the experimental data and simulation results , as well as the real test , the the horizontal lower limb rehabilitation robot control system designed to meet the design requirements.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Instruments, meters > Medical and health devices > Other medical devices
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