【摘要】 依据连续被动活动(CPM)康复理论开发了一种手指康复治疗机,其上共有3个手指、8个驱动电机和22路控制信号.采用了一种基于ARM920T内核的16/32位RISC的嵌入式处理器S3C2410作为计算和控制处理单元,并通过S3C2410的SPI接口来传递数据与指令,从而可以驱动电机并控制22路信号实现伸展/弯曲运动.最后通过两个实验分别验证了电机控制的可靠性和仿生手指的弯曲运动.更多还原

【Abstract】 A healing machine for injured fingers was developed based on the rehabilitation theory of Continuous Passive Motion(CPM).There are totally 3 fingers on the CPM machine,and 8 motors and 22 signals in all.An embedded hardware system was employed based on S3C2410(a kind of 16/32 bit RISC embedded microprocessor based on ARM920T kernel) to control the 8 motors and 22 signals on the CPM machine platform.Sending data and commands with Serial Peripheral Interface(SPI) of the microprocessor S3C2410,the 8 motors on the 3 fingers can be controlled and moved as expected.Finally two experiments were carried out to test and prove the above design.更多还原