Design of the control system platform for modular lower extremity rehabilitation exoskeleton

In recent years, lower extremity rehabilitation exoskeletons for patients with lower limb dyskinesia have attracted increasing attention. However, many of the existing exoskeletons are limited to a very specific task and can't cope with the diversity of the patient's condition. So, it's necessary to introduce modularization into lower extremity rehabilitation exoskeleton robot. In this paper, the control system platform for modular lower extremity rehabilitation exoskeleton is designed, including the design of hardware platform and software platform Three joint modules are designed in the platform and they can be reconfigured to meet different training tasks. In the hardware aspect, the multi-axis motion controller is taken as the main control module, which can connect the joint modules easily through the reserved electrical interface. In terms of software, the interface of upper computer is developed based on QT. It has the functions of reading data, collecting feedback information, drawing real-time position curve and so on. The rehabilitation training of single joint or multiple joints can be carried out by selecting the suitable joint modules. Furthermore, simulation of the hip joint module and experiment of the knee joint module have been conducted in order to verify the feasibility of the platform.