外骨骼机械手控制系统设计.docx

第4l卷 第4l卷 增刊I 华中科技大学学报(自然科学版) V01．41 Sup。I 2013年 10月 J． Huazhong Univ．of Sci． Tech． (Natural Science Edition) oct． 2013 外骨骼机械手控制系统设计 陈宏伟 张福海 付宜利 王翔宇 (哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江哈尔滨150001) 摘要针对脑卒中患者康复需求，研制了一种外骨骼机械手控制系统．该控制系统由现场可编程门阵列 (FPGA)单芯片系统、传感器采集系统以及基于Android系统的人机交互软件组成．基于FPGA单芯片系统， 通过力传感器、角度传感器和编码器实时采集外骨骼机械手和患者手指的运动状态信息，并通过总线与控制 系统进行通信；采用Android系统人机交互软件能够诱导患者主动进行康复治疗；该控制系统可通过检测患 者手指与外骨骼机械手的接触力实现自主切换主动或被动控制策略．实验表明该系统运行稳定、与人机交互 软件间的通信可靠，能够满足患者的康复需求． 关键词外骨骼机械手；控制系统；病人康复；人机交互；现场可编程门阵列；Android 中图分类号 TP242 文献标志码 A 文章编号 1671—4512(2013)S卜0320—04 Design of control system for an exoskeleton robot C^e靠Ho以g硼ei Z^Ⅱng F“^口i F。‘yiZi W口咒g Xi口ng 3『￡‘ (State Key Laboratory of Robotics and System，Harbin Institute of Technology，Harbin 15000l，China) Abstract In order to meet the demand of stroke patient rehab订itation，the control exoskeleton robot was developed．The control system consisted with single—chip system of field programmable gate array (FPGA)，sensor acquisition system and human robot interaction software based on Android system． Through force sensor，angle and encoder，the single—chip system could c01lect motion state in— formation for exoskeleton robot and patient hand in real—time． The sensors could communicate with the control system via bus．The human robot interaction software based Android could 1ead patient to take initiatiVe for the purpose of rehabilitation．In the control system，the active control mode and passiVe control mode were auto—switched by detecting the force between patient’s hand and exoskele— ton robot．The result shows that the control system is stable，which meet the rehabilitation quirement of patients，and the communication between man—machine software and control system is reliable． Key words exoskeleton robot；control system；patient rehab订itation；human robot interaction；field programmable gate arrays(FPGA)；Android 脑卒中(中风)术后会凶中枢神经受损导致患 同时也使患者承受了沉重的财政负担．因此手部 者肢体运动功能丧失[1‘2]．手部运动障碍是脑卒中 康复机器人已经成为现代康复医学和康复工程迫 后遗症的主要表