文章摘要

文章信息/Info

Title:: Research on legs intelligent training system based on servo control technology

Author(s):: JIN Zhenhua; WANG Jinghua; HAN Aimin ; CHENG Zhixin; CHEN Jianying; LI Shangbin; SUN Qian; Shandong Academy of Pharmaceutical Sciences，Jinan 250101，China

Keywords:: Servo control system; Lower legs rehabilitation; Computer technology; AVR micro control unit; PID control algorithm

摘要:: 设计一种下肢智能训练系统，对下肢运动障碍患者进行科学化的康复训练，帮助他们尽快恢复行走能力。本系统应用计算机技术，并采用AVR单片机作为下位机核心控制芯片，采用伺服控制系统作为动力机构，通过伺服电机驱动行走机构来模拟正常步行，实现对患者行走训练，并通过PID控制算法对系统运动进行精确控制。实验表明，本系统具有较高精度及较好的疗效，有较好的临床应用前景。

Abstract:: To design a legs intelligent training system for the patients with lower extremities dyskinesia in order to assist them to do scientific rehabilitation training, and help them recover as soon as possible. In the system, computer technology and AVR microcontroller were used as the core of control chip. The servo control system was used as the power mechanism. The servo motor derived the walking mechanism to simulate the normal walking. The PID control algorithm was used to control the motion of the system accurately. The experimental results show that the system has high precision and ideal effect.