基于单片机的上下肢康复训练机器人

摘要

This paper designed a rehabilitative training robot for upper and lower limbs. The designs of mechanical structure and its control system are introduced. The DC-motor of the rehabilitative training robot was controlled by the SSU7301 MCU,and the C8051F320 MCU was used for the USB communication to the upper computer. These two parts were communicated through serial port. This robot could be used to train the upper and lower limbs on one robot. There were two modes of the training: the passive mode and the active mode, which can be automatically switched with different condition of patient's movement. The experiment results show that the robot is rationally designed and stably performed.%介绍了一种基于单片机的上下肢训练机器人.首先介绍了它的机械设计和控制系统设计.上下肢康复训练机器人由SSU7301单片机控制直流电机系统,由C8051F320单片机负责与上位机的USB通信部分,两部分之间通过串口通信.它可在一台康复训练机器人上实现上、下肢的康复训练,并有被动模式和主动模式2种训练方式,主、被动模式能实现自动切换.最后给出了上下肢训练机器人产品实例和实验结果,经过试验验证,该机器人设计合理,性能稳定,实现了上下肢的康复训练.