Control System of Lower Limb Rehabilitation Robot

Abstract

The invention discloses a control system for a lower limb rehabilitation robot, comprising a host computer, a control module, a DAQ module, a servo drive module, and a force sensor; the host computer communicates with the control module through an industrial communication protocol; the control module is used for Receive the motion angle; the servo drive module is used to obtain the position, speed and acceleration information of the motor of the treadmill mechanism of the lower limb rehabilitation robot and the motor of the column mechanism during the movement; the force sensor is used to obtain the force data of the rehabilitation part; the control module It is also used to output instructions for controlling the lower limb rehabilitation robot based on motion angle, position, speed, acceleration information, and force data. The control system of the lower limb rehabilitation robot of the present invention makes full use of the hardware resources of the controller and adopts standardized industrial communication protocols, which can effectively reduce design and development costs and ensure good communication quality of the system, and can meet the needs of electromechanical rehabilitation medical devices for the control system. need.

Description

Technical field [0001] The present invention belongs to the field of lower limb rehabilitation robot technology, in particular to a lower limb rehabilitation robot control system. Background [0002] Lower limb rehabilitation robot in the rehabilitation training process can obtain the patient's movement data and state information, at the same time, through the way of scenario interaction, so that patients can actively participate in rehabilitation training, increase the patient's confidence in rehabilitation, while providing corresponding evaluation data reports, in a quantitative way to observe the effect of rehabilitation training, and finally the lower limb rehabilitation robot can also adapt to the patient's different rehabilitation stages, the use of the corresponding motion control algorithm for weight loss training. [0003] At present, the control system structure of rehabilitation robots is mainly divided into centralized control mode, master-slave control mode, decentra...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a lower limb rehabilitation robot control system in order to overcome the defect that the control system of the rehabilitation robot is restricted by the communication quality between the various subsystems in the prior art

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