Implementation of control system and software design for limbs rehabilitation training based on PCI-1240_Journal of Biomedical Engineering

Authors：

ZHU Wenchao ¹ ,  XU Xiulin ¹ , HU Xiufang ¹ , An Meijun ²

1. School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R.China;
2. Shanghai University of Medicine & Health Sciences, Shanghai 201318, P.R.China;

Corresponding author：

XU Xiulin, Email: xxlin100@163.com

Keywords：

control system; rehabilitation training; rehabilitation robot; lower limb dysfunction

DOI：

10.7507/1001-5515.201612053

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This article presents the design of a motion control system for seated lower-limb rehabilitation training. The system is composed of lower limb exoskeleton, motor drive circuit, program of motion control, and so forth. The power of lower limbs joints is provided by six motors. The PCI-1240 motion control card is used as the core. This study achieved repetitive rotation training and gait trajectory training of lower limbs joints, of which the velocity, angle and time can be accurately controlled and adjusted. The experimental results showed that the motion control system can meet the requirement of repetitive rehabilitation training for patients with lower limb dysfunction. This article provides a new method to the research of motion control system in rehabilitation training, which can promote industrial automation technique to be used for health care, and conducive to the further study of the rehabilitation robot.

Citation： ZHU Wenchao, XU Xiulin, HU Xiufang, An Meijun. Implementation of control system and software design for limbs rehabilitation training based on PCI-1240. Journal of Biomedical Engineering, 2017, 34(3): 377-387. doi: 10.7507/1001-5515.201612053 Copy

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1. 任燕, 朱健华, 顾艳荭, 等. 脑卒中后肢体功能障碍的早期康复训练研究. 护理研究, 2013, 27(1): 17-18.
2. 王陇德. 中国脑卒中防治报告 2015, 北京: 人民卫生出版社, 2016.
3. 张桂芳, 王艳. 脑梗死致肢体功能障碍的早期康复护理. 中国医药导报, 2010, 7(1): 120-121.
4. Biernasjie J, Chernrnko G, Corbett D, et al. Efficacy of rehabilitative experience declines with time after focal ischemic brain injury. Neurosci, 2004, 24(5): 1245-1254.
5. Colombo R, Pisano F, Micera S, et al. Robotic techniques for upper limb evaluation and rehabilitation of stroke patients. IEEE Trans Neural Syst Rehabil Eng, 2005, 13(3): 311-324.
6. 史小华, 王洪波, 孙利, 等. 外骨骼型下肢康复机器人结构设计与动力学分析. 机械工程学报, 2014, 50(3): 41-48.
7. 吴剑, 李建设. 人体行走时步态的生物力学研究进展. 中国运动医学杂志, 2002, 21(3): 305-307.
8. 钱竞光, 宋雅伟, 叶强, 等. 步行动作的生物力学原理及其步态分析. 南京体育学院学报(自然科学版), 2006, 5(4): 1-7, 39.
9. 熊涛, 韦建军, 洪晓莉. 下肢康复机器人逆运动学数值解法. 机械设计与制造, 2016(5): 164-166, 170.
10. 薛薇. 基于 SPSS 的数据分析. 北京: 中国人民大学出版社, 2006: 1-360.
11. van der Borght K, Kóbor-Nyakas D E, Klauke K, et al. Physical exercise leads to rapid adaptations in hippocampal vasculature: temporal dynamics and relationship to cell proliferation and neurogenesis. Hippocampus, 2009, 19(10): 928-936.

Journal of Biomedical Engineering

Implementation of control system and software design for limbs rehabilitation training based on PCI-1240

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