| 创伤手指康复机械手嵌入式控制系统 |
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| 引用本文： | 张付祥,王树国. 创伤手指康复机械手嵌入式控制系统[J]. 河北科技大学学报, 2008, 29(4): 299-304 |
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| 作者姓名： | 张付祥 王树国 |
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| 作者单位： | 河北科技大学机械电子工程学院,河北石家庄,050018;哈尔滨工业大学机器人研究所,黑龙江哈尔滨,150001 |
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| 基金项目： | 黑龙江省科学技术计划项目 |
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| 摘 要： | 针对研制的创伤手指功能康复机械手,研究了以ARM芯片S3C2410为核心的嵌入式系统平台、基于SPI总线的电机控制和数据采集模块,以及控制软件和图形用户界面的设计,还结合机械系统设计了传感系统,实现了康复运动产生、康复数据采集等系统功能,为该系统用于临床康复试验奠定了基础。
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| 关 键 词： | 康复机械手 嵌入式系统 ARM SPI |
| 收稿时间： | 2008-04-23 |
| 修稿时间： | 2008-06-15 |
Embedded control system of rehabilitation manipulator for injured fingers |
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| ZHANG Fu-xiang and WANG Shu-guo. Embedded control system of rehabilitation manipulator for injured fingers[J]. Journal of Hebei University of Science and Technology, 2008, 29(4): 299-304 |
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| Authors: | ZHANG Fu-xiang and WANG Shu-guo |
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| Affiliation: | ZHANG Fu-xiang1,WANG Shu-guo2(1.College of Mechanical , Electronic Engineering,Hebei University of Science , Technology,Shijiazhuang Hebei 050018,China,2.Robotics Institute,Harbin Institute of Technology,Harbin Heilongjiang 150001,China) |
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| Abstract: | Based on the developed rehAbilitation manipulator,study on the control system is carried out,such as embedded system platform with the ARM microprocessor S3C2410 as its core,motor control module and data acquisition module based on serial peripheral interface(SPI) bus,control software and graphical user interfaces(GUI) etc.According to the mechanical system,a sensor system is also designed to realize the function of acquisition of rehAbilitation dada during rehAbilitation motion.The test proves the feasibil... |
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| Keywords: | ARM SPI |
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