Title: A low-cost and highly integrated control system for lower limb rehabilitation robot

Authors: Fucheng Cao; Yuanchun Li; Lirong Wang; Zhen Liu

Addresses: College of Communication Engineering, Jilin University, Changchun, Jilin, China; College of Electronic Information and Engineering, Changchun University, Changchun, Jilin, China ' Department of Control Engineering, Changchun University of Technology, Changchun, Jilin, China ' School of Electronic and Information Engineering, Soochow University, Suzhou, Jiangsu, China ' Graduate School of Engineering, Nagasaki Institute of Applied Science, Aba-machi 536, Nagasaki, Japan

Abstract: This paper presents a lower limb rehabilitation control system designed to train stroke patients by providing variable damping on the knee joint. The hardware based on the controller TMS320F28335 digital signal processor (DSP) and the software based on the DSP/BIOS embedded operation system are designed. The effective control of brushless DC (BLDC) motor can be implemented by combining with the upper impedance control algorithms and the underlying field-oriented control (FOC) control algorithm, which improves the performance of rehabilitation robot control system. The proposed integrated control system has robustness, dependability and works in real-time, and is easy to be upgraded and expanded.

Keywords: rehabilitation robot; DSP/BIOS; brushless DC motor; filed-oriented control; FOC; impedance control.

DOI: 10.1504/IJHPCN.2017.087466

International Journal of High Performance Computing and Networking, 2017 Vol.10 No.6, pp.488 - 497

Received: 07 Aug 2015
Accepted: 16 Oct 2015
Published online: 16 Oct 2017 *

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