WEARABLE FRACTURE REDUCTION AND REHABILITATION ROBOT CONTROL SYSTEM AND CONTROL METHOD

WIPO Patent Application WO/2023/000716

A1

A wearable fracture reduction and rehabilitation robot control system and control method, comprising a host computer software module (1), a communication module (2), a force sensor module (3), an embedded driver module (4), and a motor module (5). A kinematics forward/inverse solution algorithm and a path planning algorithm are embedded in the host computer software module (1), which uses multi-thread communication integrating RS485 serial communication and USB to CAN bus communication; the embedded driver module (4) is composed of hardware including a control circuit and a driving circuit and integrates a power chip, a driver chip, a communication chip, and a control chip on a same control circuit board. The driver hardware design of the control system is highly integrated and meets miniaturization and convenience requirements. In addition, the development difficulty is low, and a host computer can issue control commands by mans of a simple serial port protocol. Drivers integrate drive and control, such that good real-time performance is achieved in control of motors at the bottom layer, and the integrated control of fracture reduction and rehabilitation can be realized.

SUN TAO (CN)
ZHANG JIAPENG (CN)
HE ZHIYUAN (CN)
LIAN BINBIN (CN)
SONG YIMIN (CN)

PCT/CN2022/086348

January 26, 2023

April 12, 2022

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UNIV TIANJIN (CN)

A61B34/30; A61B34/10; G05B19/414

CN113545845A	2021-10-26
CN111685880A	2020-09-22
CN111730593A	2020-10-02
CN109108939A	2019-01-01
CN208468393U	2019-02-05
US20060100723A1	2006-05-11

BEI & OCEAN (CN)

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