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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 study developed a sitting posture-based lower limb rehabilitation motion control system, which includes lower extremity exoskeleton mechanism, motor drive control circuit, motion control program. Six motors are used to power the hips, knees and ankles, and the PCI-1240 motion control card is used as the control core to achieve precise control of the speed, angle and movement time of repetitive rotation training and gait rehabilitation training of the lower limbs. And adjust. The experimental results show that the motion control system can meet the needs of repetitive rehabilitation training in patients with dysfunction of limbs. This article provides more methodological data for the motion control system in rehabilitation training robots, which can promote the transformation of industrial automation equipment to the medical field and is conducive to the further research of rehabilitation robots.