智能多姿态下肢康复训练设备控制系统研究

Research on Control System of Intelligent Multi-gesture Lower Limb Rehabilitation Training Equipment

为了更好地帮助下肢功能障碍者进行居家下肢康复训练,重获行动能力,走向独立生活,设计一种基于轮椅的智能多姿态下肢康复训练设备控制系统。该系统选用STM32F103系列单片机作为主控芯片,采用模块化设计思想,对人机交互模块、运动控制模块、姿态变换与下肢康复训练模块的软硬件进行设计。实验结果表明,人机交互摇杆按键控制姿态变换成功率能达到97.5%,语音和手机平板APP的控制成功率也能分别达到92.5%和95.3%。控制系统运行稳定,为进一步完善智能多姿态下肢康复训练设备奠定了基础。

In order to better help the patients with lower limb dysfunction to carry out lower limb rehabilitation training at home,regain mobility and move towards an independent life,an intelligent multi-gesture lower limb rehabilitation training equipment control system based on wheelchair is designed.This system uses STM32F103 series single chip microcomputer as the main control chip,and adopts modular design idea to design the software and hardware of man-machine interaction module,motion control module,attitude transfor⁃mation and lower limb rehabilitation training module.The experimental results show that the success rate of human-computer interac⁃tion joystick control posture change can reach 97.5%,and the success rate of voice control as well as mobile phone and tablet APP can also reach 92.5%and 95.3%.The control system operates stably,which lays a foundation for further improving the intelligent multiposture lower limb rehabilitation training equipment.