The lower limb rehabilitation robot control system research

This paper briefly analyzes the lower limb rehabilitation robot mechanism, the working principle and the training mode. The main parts of the lower limb rehabilitation robot transmission mechanism is a permanent magnet dc motor, the control system consists of driving circuit, main control unit, touch screen and a number of sensors. Main control unit consists of STM32F417ZET6 and some simple periphery circuit. This paper analyses the functions and characteristics of the lower limb rehabilitation robot, The PID control combines with Bang-Bang control to create the control algorithm for the the lower limb rehabilitation robot, the effect of two kinds of controller is given.