Motion controller for human finger joint assistance and rehabilitation equipment

Abstract

The invention discloses a motion controller for human finger joint assistance and rehabilitation equipment. The motion controller comprises an MCU (master control unit), a signal processing circuit, acurrent sampling circuit, an H bridge driving circuit, an upper computer, a pressure sensor and a liquid crystal display screen, the MCU is provided with an STM32F103VC chip, the signal processing circuit comprises a filter circuit and an operational amplifier circuit and is used for receiving pressure feedback signals of the pressure sensor and processing the pressure feedback signals, the current sampling circuit is used for sampling the current of a motor and transforming sampled current signals into voltage signals, the H bridge driving circuit turns on or off an MOSFET (metal-oxide-semiconductor field effect transistor) according to PWM (pulse width modulation) signals, changes voltage applied to two ends of the motor and controls motion of the motor, and the liquid crystal display screen is used for implementing man-machine interaction. According to the motion controller, circuit design is simplified, a whole system is light, portable, simple to operate and convenient to use.

Description

technical field [0001] The invention relates to the technical field of knuckle rehabilitation equipment, in particular to a motion controller used for human knuckle assist and rehabilitation equipment. Background technique [0002] At present, wearable intelligent human knuckle assisting and rehabilitation equipment is mainly used for rehabilitation training of patients with uncoordinated hands and assisting the elderly with attenuated hand strength. The motion controller is a wearable intelligent human knuckle assisting and rehabilitation device. The core component of the device is generally composed of a control part, a drive part and a human-computer interaction part, which mainly realizes the motion control of wearable intelligent human knuckle joints and the end effector of rehabilitation equipment. [0003] The motion controller in the prior art generally adopts a hierarchical control strategy, which consists of a bottom control system and a top control system. The bot...

AI Technical Summary

Problems solved by technology

The FPGA controls 5 motors and completes the acquisition and transmission of sensor and encoder data at the same time. When the data is uploaded, the FPGA packs the collected data and sends it to the top-level control system through LVDS. The control commands from the top level are also sent down to the bottom layer. It unpacks and distributes control commands; the top-level control system is responsible for relatively high-level control, and uses a heterogeneous dual-processor system suitable for intensive computing and multi-tasking processing to make it undertake two types of tasks respectively, and through a processor The unique HPI bus communication method completes the data transmission between the two processors. The scheme of the above-mentioned control system is relatively complicated, resulting in a large size and complicated operation. It requires professional assistance and is not suitable for home use.

Images