创伤手指康复机械手嵌入式控制系统

Embedded control system of rehAbilitation manipulator for injured fingers

针对研制的创伤手指功能康复机械手,研究了以ARM芯片S3C2410为核心的嵌入式系统平台、基于SPI总线的电机控制和数据采集模块,以及控制软件和图形用户界面的设计,还结合机械系统设计了传感系统,实现了康复运动产生、康复数据采集等系统功能,为该系统用于临床康复试验奠定了基础。

Based on the developed rehabilitation manipulator, study on the control system is carried out, such as embedded system platform with the ARM microprocessor S3C2410 as its core, motor control module and data acquisition module based on serial peripheral interface （SPI） bus, control software and graphical user interfaces （GUI） etc. According to the mechanical system, a sensor system is also designed to realize the function of acquisition of rehabilitation dada during rehabilitation motion. The test proves the feasibility of the system which can be used in clinic in future.