| 基于CPM理论的仿生康复手嵌入式系统的研究 |
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| 引用本文： | 刘建国,张付祥,王树国,付宜利. 基于CPM理论的仿生康复手嵌入式系统的研究[J]. 哈尔滨工业大学学报, 2008, 40(3): 367-371 |
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| 作者姓名： | 刘建国 张付祥 王树国 付宜利 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150001;哈尔滨工业大学机器人研究所,哈尔滨,150001;河北科技大学机械电子工程学院,石家庄,050018 |
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| 基金项目： | 国家自然科学基金 , 黑龙江省科学技术计划 |
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| 摘 要： | 依据连续被动活动(CPM)康复理论开发了一种手指康复治疗机,其上共有3个手指、8个驱动电机和22路控制信号.采用了一种基于ARM920T内核的16/32位RISC的嵌入式处理器S3C2410作为计算和控制处理单元,并通过S3C2410的SPI接口来传递数据与指令,从而可以驱动电机并控制22路信号实现伸展/弯曲运动.最后通过两个实验分别验证了电机控制的可靠性和仿生手指的弯曲运动.
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| 关 键 词： | 连续被动活动 嵌入式硬件系统 ARM处理器 SPI总线 |
| 文章编号： | 0367-6234(2008)03-0367-05 |
| 修稿时间： | 2006-04-21 |
Embedded control system for fingers healing machine based on continuous passive motion theory |
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| LIU Jian-guo,ZHANG Fu-xiang,WANG Shu-guo,FU Yi-li. Embedded control system for fingers healing machine based on continuous passive motion theory[J]. Journal of Harbin Institute of Technology, 2008, 40(3): 367-371 |
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| Authors: | LIU Jian-guo ZHANG Fu-xiang WANG Shu-guo FU Yi-li |
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| Affiliation: | 1(1.Robotics Institute,Harbin Institute of Technology,Harbin 150001,China;2.College of Mechanical and Electronic Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China) |
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| Abstract: | A healing machine for injured fingers was developed based on the rehabilitation theory of Continuous Passive Motion(CPM).There are totally 3 fingers on the CPM machine,and 8 motors and 22 signals in all.An embedded hardware system was employed based on S3C2410(a kind of 16/32 bit RISC embedded microprocessor based on ARM920T kernel) to control the 8 motors and 22 signals on the CPM machine platform.Sending data and commands with Serial Peripheral Interface(SPI) of the microprocessor S3C2410,the 8 motors on the 3 fingers can be controlled and moved as expected.Finally two experiments were carried out to test and prove the above design. |
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| Keywords: | CPM embedded hardware system ARM SPI BUS |
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