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Title:: Design of control system based on crawling training for spinal rehabilitation training equipment

作者:: 刘吉永1; 徐秀林1△; 朱文超1; 胡秀枋1; 安美君2; 1. 上海理工大学医疗器械与食品学院，上海 200093；2. 上海健康医学院, 上海 201318

Author(s):: LIU Jiyong1; XU Xiulin1; ZHU Wenchao1; HU Xiufang1; AN Meijun2; 1.School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China；2.Shanghai University of Medicine & Health Sciences, Shanghai 201318

Keywords:: Control system; Crawling movement; Spinal rehabilitation; Rehab equip; Kinesitherapy; System design

摘要:: 开发了一种基于爬行运动的脊柱康复训练运动控制系统，该系统基于支撑床体机构和上下肢爬行训练支撑机构，控制系统由电机驱动控制电路、运动控制程序等组成。通过2个直流电机为爬行运动训练提供动力，1个步进电机为脊柱侧弯矫正训练提供动力，1个直线导杆电机控制床体旋转和2个步进电机控制腹部支撑上下、左右移动。上位机采用PCI-1240运动控制卡作为控制核心，实现爬行训练的距离、速度和运动时间等的控制；下位机使用单片机实现对训练位置和姿态的控制。试验结果表明，该运动控制系统能很好地控制脊柱康复训练仪各部分的协调动作，以满足脊柱患者康复训练的需求。

Abstract:: To design a motion control system of spinal rehabilitation training based on crawling movement, which is based on the lathe body support mechanism and crawling training support mechanism for upper and lower limbs. The system included control circuit of motor driven, motion control procedures, etc. Two dc motors provided the driving force of the creep training. One stepper motor provided power of the scoliosis correction training. Three motors controled the rotation of the lathe body and the abdomen support up and down. The upper computer adopted PCI-1240 motion control card as the control core, and control the distance, speed and movement time of crawling training. The control of the training position and attitude were controlled by the microcontroller. The test results show that the motion control system can control the coordination of various parts of the spine rehabilitation training instrument, and meet the needs of the rehabilitation training of patients with spine disease.