Rehabilitation robot control system and method

Abstract

The invention discloses a rehabilitation robot control system which comprises human-machine interface equipment 1, an upper computer PC 2, a multi-axis motion controller 4, a motor control unit 5, a sensing unit 6 and a CAN (controller area network) bus 7. The rehabilitation robot control system ensures that postures of a robot and a patient are balanced in a rehabilitation training process; the reliability, the maintainability and the instantaneity of the system are improved. The invention further discloses a rehabilitation robot control method.

Description

technical field [0001] The invention relates to the fields of rehabilitation medicine and machinery, in particular to a lower limb exoskeleton rehabilitation robot system and method based on CAN bus. Background technique [0002] Patients with stroke, traumatic brain injury and other diseases, due to damage to the central nervous system, lead to movement disorders of the lower limbs, which has brought serious inconvenience to their lives. If they cannot be treated effectively, they may never be able to stand and walk. The central nervous system has plasticity, and timely and scientific rehabilitation plays a very important role in the recovery and improvement of limb motor function. Rehabilitation robot is a new application of the combination of robot and rehabilitation medicine. It can provide scientifically rich training methods and training effect evaluation indicators for patients with paralysis. It has become a new breakthrough in the field of rehabilitation treatment i...

AI Technical Summary

Problems solved by technology

[0008] In view of the structure of the existing rehabilitation robot control system, the centralized structure is mostly adopted, and the control tasks of multiple joints are all concentrated in the main controller, which will have an adverse effect on the reliability, easy maintenance and real-time performance of the control system. Capability can not meet the needs of real-time control defects, the present invention adopts the distributed control system architecture based on CAN, improves the reliability and easy maintenance of the system, and adopts the CAN bus with strong real-time and reliability as the control bus at the same time, And the RTX (real-time-extension) real-time operating system is installed under the windows operating system of the main controller PC, which improves the reliability, maintainability and real-time performance of the system

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