基于C#和TwinCAT下肢康复机器人控制系统研究

发布时间：2018-06-05 15:34

本文选题：ADS通讯 + C#　；参考：《中国康复医学杂志》2017年04期

【摘要】：目的:针对脑卒中偏瘫患者因神经元病变造成的神经回路阻断,研究通过试错和重复的功能训练使脑卒中偏瘫患者形成运动记忆的下肢康复机器人控制策略,使患者重建神经回路并恢复运动能力。方法:根据脑卒中患者的康复训练需求,结合下肢康复机器人硬件平台的结构和特点,基于运动学习理论,制定康复策略,设计下肢康复机器人控制系统。结果:完成了由基于C#的上位机软件和基于TwinCAT的下位机软件组成的下肢康复机器人控制系统。上位机功能包括模式选择、训练数据处理、参数设置;下位机软件负责采集训练数据、运动控制功能;上下位机软件之间采用ADS通信方式。结论:控制系统满足患者康复训练的使用需求,帮助康复理疗师对患者进行更加全面、系统、有效、安全的步态和平衡康复训练。
[Abstract]:Objective: to study the control strategy of lower extremity rehabilitation robot for hemiplegic patients with stroke to form motor memory by trial-error and repeated functional training. Make patient rebuild nerve circuit and restore movement ability. Methods: according to the rehabilitation training needs of stroke patients, combined with the structure and characteristics of the lower limb rehabilitation robot hardware platform, based on the theory of motor learning, the rehabilitation strategy was formulated, and the lower limb rehabilitation robot control system was designed. Results: the control system of lower limb rehabilitation robot was completed, which consisted of upper computer software based on C # and lower computer software based on TwinCAT. Upper computer functions include mode selection, training data processing, parameter setting; lower computer software is responsible for collecting training data, motion control function; upper and lower computer software use ADS communication mode. Conclusion: the control system can meet the needs of patients' rehabilitation training and help rehabilitation physiotherapists to train patients with more comprehensive, systematic, effective and safe gait and balanced rehabilitation training.
【作者单位】：上海大学机电工程与自动化学院上海市智能制造及机器人重点实验室;上海电气集团中央研究院;
【基金】：上海市科学技术委员会科技支撑项目(13441901802,15441900802)
【分类号】：R493;R743.3

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