CAJ | 학술논문

基于STM32系列芯片控制系统实时检测腿部力量的大小，实现了上下肢功能障碍者训练时从被动到主动的自由转换，增加了训练系统的柔顺性。控制系统通过检测剩余力量自动调整力矩，使训练更加智能化。实验结果表明，设计开发的智能上下肢康复训练器，重力检测精度为0．6N，速度控制误差δ＜2％。
기우STM32계렬심편공제계통실시검측퇴부역량적대소，실현료상하지공능장애자훈련시종피동도주동적자유전환，증가료훈련계통적유순성。공제계통통과검측잉여역량자동조정력구，사훈련경가지능화。실험결과표명，설계개발적지능상하지강복훈련기，중력검측정도위0．6N，속도공제오차δ＜2％。
The STM32 based control system freely transforms the disorder rehabilitation from passive to active during the training time according to the real-time detections of leg strength so that the flexibility of training system was improved .The system can automatically adjust output torque by measuring the remained strength ,so that the training was more intellectualized .The experimental results show that the designed device can meet the needs with gravity precision 0 .6 N and speed control error less than δ<2% .