髋关节康复训练器控制系统设计与研究

Research on Control System Based on Device of Rehabilitative Exercises of Lower Residual Limbs

设计下肢膝关节以上截肢患者髋关节康复训练器的控制系统。根据膝关节以上截肢患者的运动特点,使用AVR单片机控制磁粉制动器,产生康复者所需要的力矩,锻炼康复者的膝关节以上肌肉。计算截肢患者在康复训练中时间和能量消耗,对下肢康复训练建立一种新的训练模式。利用运算速率高、抗干扰功能强大和便于控制的AVR单片机,通过C语言编程,结合下肢残肢康复训练实际临床理论,达到自动控制理论和下肢康复训练之间的完美结合。该康复训练器运用自动控制原理可以成功的实现对髋关节部分肌肉的锻炼,精准的控制下肢康复训练的载荷,实现对髋关节肌肉康复训练系统的训练方案的进一步探索。

A new method for the rehabilitative exercises of lower residual limbs,which achieve isotonic and isometric exercise for the patients of residual limbs,was provided.According to the characteristic of amputees of lower limbs,we use the AVR single-chip microcomputer to control the magnetic powder brake,and use the suitable torque for the lower limbs in rehabilitative exercises system.In the end,we can get the data of the energy and time of the exercise.Making use of high-speed computing and powerful anti-jamming AVR single-chip microcomputer,we can achieve a perfect combination in the theory of the rehabilitative exercises of lower residual limbs.With the automatic control theory,we can find the successful way to achieve the recognition of the motion in the rehabilitative exercises of lower residual limbs. The method may realize rehabilitative exercises of lower limbs,and may do further study for the control of the systems of lower limbs in rehabilitative exercises of residual limbs.