摘要
下肢外骨骼康复机器人进行康复训练的控制软件多在计算机端运行,成本高,灵活性差。针对此问题,提出基于Android客户端的控制系统,在Android Studio开发环境中利用Java语言编写界面并实现相关功能。采用JSch实现远程登录并操控下位机工控机,通过Socket通信机制实现与康复机器人的无线通信,并使用LCD显示模组(Liquid Crystal Display Module,LCM)实现对关节角度等数据的实时传输,实现康复训练过程中模式选择、参数设置、双向数据传输以及康复训练曲线实时显示的功能。
The control software of lower limb exoskeleton rehabilitation robot is mostly run on computer, which has high cost and low flexibility. To solve this problem, a control system based on Android client is proposed, which uses Java language to write interface and realize related functions in the development environment of Android Studio. JSch is used to realize remote login and control the lower computer, and Socket communication mechanism is used to realize wireless communication with the rehabilitation robot. Liquid Crystal Display Module(LCM) is used to realize the real-time transmission of joint angle and other data, the function of pattern selection, parameter setting, two-way data transmission and real-time display of rehabilitation training curve are realized.
作者
石征锦
路璐
刘雨欣
SHI Zhengjin;LU Lu;LIU Yuxin(School of Automation and Electrical Engineering,Shenyang Ligong University,Shenyang 110159)
出处
《现代制造技术与装备》
2023年第1期202-204,共3页
Modern Manufacturing Technology and Equipment
