基于STM32的下肢外骨骼机器人安全测试系统设计
Design of a Safety Test System for Lower Limb Exoskeleton Robots Based on STM32

下肢康复外骨骼机器人具有医疗器械属性，对安全性要求极高，因此下肢康复外骨骼机器人安全性研究备受关注。本文设计了一款下肢外骨骼机器人安全测试系统，整个系统包括上位机与以STM32高性能芯片为主控模块的控制系统。采用STM32内置AD转换器采集角度、压力和位移等传感信息，通过USART将传感信息传输至上位机，从而判断穿戴式下肢外骨骼康复机器人关节运动参数是否在安全范围内以及判断运动平稳性。此外控制系统通过控制电磁阀检测外骨骼的痉挛保护能力，通过PWM调频检测力交互能力。系统上位机基于PyQt5搭建，通过串口与主控板进行通讯。实验表明，该检测系统能实时准确检测穿戴式下肢外骨骼的安全性能。
Since they are medical devices and demand a high level of safety, the safety of lower limb rehabilitation exoskeleton robots is of major interest. In this study, we propose a control system with an STM32 high-performance chip as the main control module for a safety testing system for lower limb rehabilitation exoskeleton robots. To determine whether the joint motion parameters of the wearable lower limb exoskeleton rehabilitation robot are within the safe range and to assess the smoothness of the motion, the system uses the built-in AD converter on the STM32 to collect sensing information such as angle, pressure, and displacement and transmits the sensing information via USART to the host computer. The control system also recognizes the spasticity protection capabilities. The control system also recognizes the exoskeleton’s ability to defend against spasticity through the control solenoid valve and the ability to interact with forces through PWM frequency modulation. A serial port is used by the PyQt5-based system higher computer to connect to the main control board. Experiments demonstrate that the testing method can precisely identify the wearable lower limb exoskeleton’s safety performance in real time.