Six-degree-of-freedom upper limb rehabilitation robot control system

Abstract

The invention discloses a six-degree-of-freedom upper limb rehabilitation robot control system which comprises control system software, an industrial control computer, a man-machine interaction deviceand a bus control module, wherein the man-machine interaction device and the bus control module are connected with the industrial control computer. The control system software runs in the industrialcontrol computer in a carried manner, the bus control module is connected with a PWM (pulse width modulation) module, an analog module and a digital module through an internal bus and connected with a5-path servo driver through an Ethernet cable, the 5-path servo driver is connected with a 5-path direct-current servo motor through a cable, an absolute value encoder on the 5-path direct-current servo motor is connected with the 5-path servo driver through a cable, one path of the PWM module is connected to a steering engine through a cable, the analog module is connected to a potentiometer atthe tail end of the steering engine and connected with a six-axis force sensor, and the digital module is connected with an emergency stop switch and a limit switch.

Description

technical field [0001] The invention relates to the technical fields of robot technology and rehabilitation medicine, and more specifically relates to a six-degree-of-freedom upper limb rehabilitation robot control system. Background technique [0002] Motor nerve damage caused by stroke, stroke, and spinal cord injury can lead to upper limb motor dysfunction, which has a significant impact on the patient's body and mind. After the patient is ill, he can receive correct rehabilitation treatment within an effective time, which can assist the patient to recover the upper limb motor ability to a certain extent. [0003] The traditional way is that rehabilitation therapists conduct one-on-one rehabilitation treatment, which requires the participation of a large number of rehabilitation therapists and takes a long time for rehabilitation. The use of rehabilitation robots in rehabilitation training can replace most of the heavy work of rehabilitation physical therapists, and the ...

AI Technical Summary

Problems solved by technology

[0004] At present, the research on upper limb rehabilitation robots is still in the development stage. Most of the rehabilitation systems used are based on the articulated robot systems in industrial control. The structure of the control system is complex, and the functional modules are distributed on different acquisition cards. Data transmission in the form of a bus greatly reduces the execution efficiency of the system and prolongs the cycle time of the system. The communication method between the servo system and the controller cannot provide the high synchronization requirements of the motors at the joints; in addition, most of the existing rehabilitation systems are mechanical It drives the patient's arm movement, the operation mode is single, the residual limb strength of the patient cannot be effectively used, and the patient cannot actively participate in it, which is not conducive to the active participation of the patient and the accurate feedback of the rehabilitation effect

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