Hand rehabilitation exoskeleton man-machine interaction system based on ARM and Linux operating system
An operating system and human-computer interaction technology, which is applied in the field of hand rehabilitation exoskeleton human-computer interaction system, can solve the problems of poor sensing performance, single rehabilitation method, large system size and unfavorable portability, etc., and achieve the effect of enhancing participation
Inactive Publication Date: 2017-09-22
浙江洼赛智能科技有限公司
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[0003] Aiming at the problems that the current hand rehabilitation exoskeleton system has poor sensing performance, the system is too large to carry, and the rehabilitation method is single, the present invention provides a hand rehabilitation exoskeleton based on ARM and Linux operating systems Human-computer interaction system
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[0044] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0045] Such as figure 1 As shown, the hand rehabilitation exoskeleton human-computer interaction system based on ARM and Linux operating systems of the present invention includes a hardware platform, a joint torque sensor, a joint angle sensor, a motor drive module and an exoskeleton manipulator, wherein the hardware platform is used as a general control The platform is used to deal with the realization of the rehabilitation exoskeleton manipulator, including the system platform, the power supply management module, the motor control module and the data acquisition module. The motor control signal input terminal of the drive module is connected, and its core is a data acquisition module and a motor control module based on the serial peripheral interface (SPI) bus.
[0046]The design of the system adopts software and hardware collaborative design techn...
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A hand rehabilitation exoskeleton man-machine interaction system based on ARM and a Linux operating system is characterized by comprising a joint torque sensor, a joint angle sensor, hardware and software platforms, a motor driven module, a man-machine interaction interface and an exoskeleton manipulator, wherein the joint torque sensor is used for acquiring the rotating torque of the exoskeleton manipulator joint, the joint angle sensor is used for acquiring the rotating angle of the exoskeleton manipulator joint, the hardware and software platforms are used for achieving the rehabilitated exoskeleton manipulator, a grading and parallel competition control structure is adopted by combining the hardware and software platforms, and hand rehabilitation training is performed in a game mode. For solving the problem that at present, the hand rehabilitation exoskeleton system is poor in sensing performance, inconvenient to carry due to too large system size and simple in rehabilitation mode, and the hand rehabilitation exoskeleton man-machine interaction system based on the ARM and the Linux operating system is provided.
Description
technical field [0001] The invention relates to the technical field of robot human-computer interaction, in particular to a hand rehabilitation exoskeleton human-computer interaction system. Background technique [0002] With the advancement of robot technology and the continuous expansion of its application fields, rehabilitation robots, as a branch of intelligent robots, are gradually entering our lives, and have brought new impetus to the development of rehabilitation theory and the advancement of clinical rehabilitation technology. At present, rehabilitation robotics is increasingly becoming a research hotspot in the field of robotics. Hand trauma or postoperative functional recovery is a problem that hand surgeons must face. At present, the continuous passive movement theory is entering clinical practice and is increasingly accepted by the majority of rehabilitation physicians. This patent proposes an exoskeleton human-computer interaction system based on ARM and Li...
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IPC IPC(8): A61H1/02
CPCA61H1/0218A61H1/0285A61H1/0288A61H2201/1207A61H2205/065A61H2205/067
Inventor 付宜利李芳
Owner 浙江洼赛智能科技有限公司