创伤手指康复机械手嵌入式控制系统-河北科技大学学报.PDFVIP

29 4 Vol. 29, No .4 2008 12 Journal of Hebei University of Science and T ec nology Dec. 2008 : 1008-1542( 2008) 04-0299- 06 1 2 张付祥 , 王树国 ( 1. 河北科技大学机械电子工程学院, 河北石家庄 050018; 2. 哈尔滨工业大学机器人研究所, 黑 龙江哈尔滨 150001) : 针对研制 创伤手指功能康复机械手, 研究了以ARM 芯片S3C2410 为核心 嵌入式系统 平台基于SPI 总线 电机控制和数据采集模块, 以及控制软件和图形用户界面 设计, 还结合机 械系统设计了传感系统, 实现了康复运动产生康复数据采集等系统功能, 为该系统用于临床康复 试验奠定了基础 : 康复机械手; 嵌入式系统; ARM ; SPI : T P24 : A Embedded control system of re abilitation manipulator for injured fingers 1 2 ZHANG Fu-xiang , WAN G S u-guo ( 1. College of Mec anical and Electronic Engineering, H ebei U niversit y of Science and Tec nology, S ijiaz uang H ebei 050018, C ina; 2. Robotics Institute, Harbin Institute of T ec nology, Harbin H eilongjiang 150001, C ina) Abstract : Based on t e developed re abilitation manipulator, st udy on t e cont rol syst em is carried out, suc as embedded sys- tem platform w it t e ARM microprocessor S3C24 10 as its core, motor cont rol module and data acquisition module based on se- rial perip eral interface ( SPI) bus, control softw are and grap ical user int erfaces ( GUI) et c. According to t e mec anical sys- tem, a sensor system is also designed to realize t e function of acquisition of re abilit ation dada during re abilit ation motion. T e test proves t e feasibility of t e system w ic can be used in clinic in fut ure. Key words: re abilit ation manipulators; embedded system; ARM ; serial prerip eral inferface , , 15. 0% ~ 28. 6%[ 1] , , , , , , , 1 ( continuous passive motion, CPM) CPM , CPM : 2008-04-23; : 2008- 06-15; : : ( 2006G0845) : ( 1