Rehabilitation medical robots represent the cutting edge of current robotic research and are an interdisciplinary field that combines automatic control, computer science, intelligent instrumentation, mechanical engineering, rehabilitation medicine, and neuroscience. As a relatively new subject, the study of these robots holds significant scientific value. Based on the specific needs of upper limb rehabilitation training, the author has developed a force feedback-based upper limb rehabilitation training system using STM32 as its core. When designing the control system, ensuring safety and stability is the fundamental principle. To prevent secondary injury to the affected limb in emergencies, the system typically limits the force between the robot’s end-effector and the patient's limb. After experimental validation, the system demonstrates a reasonable design and stable performance, enabling smooth control of the rehabilitation robot. The force feedback feature effectively stimulates the patient's residual abilities while maintaining system safety.
**1. Upper Limb Rehabilitation Robot System**
The robotic arm of the upper limb rehabilitation robot is symmetrical around its axis and can perform repeated arc movements around it. It can be controlled by a computer or directly operated by a therapist to guide the patient through training. Figure 1 shows the object of the upper limb rehabilitation training robot.
Figure 1: Single degree of freedom upper limb rehabilitation training robot
The robot system mainly consists of the arm's mechanical structure, motor, position sensor, torque sensor, motor driver, robot controller, and host computer. The system block diagram is shown in Figure 2. The torque sensor, drive motor, and position sensor are arranged sequentially along the arm's axis. The position sensor detects the movement angle of the robotic arm, while the torque sensor measures the interaction force between the patient and the robotic arm. It provides additional assistance when the patient lacks initiative and reduces it when the patient is capable of performing the movement. In some cases, resistance is applied to fully stimulate the patient's remaining functional capacity. The motor driver generates assisting or damping forces during rehabilitation training, either pushing or blocking the movement of the robotic arm and the affected limb.
Figure 2: Single-degree-of-freedom upper limb rehabilitation training robot system block diagram
The robot controller communicates with the host computer via a USB interface. On one hand, it receives control commands from the host computer and sends them to the motor driver. On the other hand, it collects data from the torque and position sensors and transmits it back to the host computer. The rehabilitation physician can quantitatively analyze and evaluate the patient’s progress based on the data displayed through the human-computer interface on the upper computer. This allows for more accurate and personalized rehabilitation planning and decision-making.RAM Memory, Desktop DDR RAM, Laptop DDR RAM, high-performance RAM, PC memory upgrade, laptop memory upgrade, DDR4 RAM, DDR5 RAM, gaming RAM, workstation memory, best RAM UK, US desktop RAM, AU laptop RAM
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