A Hierarchical Distributed Control System Design for Lower Limb Rehabilitation Robot
محفوظ في:
| الحاوية / القاعدة: | Technologies vol. 13, no. 10 (2025), p. 462-485 |
|---|---|
| المؤلف الرئيسي: | |
| مؤلفون آخرون: | , , , , |
| منشور في: |
MDPI AG
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| الموضوعات: | |
| الوصول للمادة أونلاين: | Citation/Abstract Full Text + Graphics Full Text - PDF |
| الوسوم: |
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MARC
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| 022 | |a 2227-7080 | ||
| 024 | 7 | |a 10.3390/technologies13100462 |2 doi | |
| 035 | |a 3265951464 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231637 |2 nlm | ||
| 100 | 1 | |a Wang Aihui |u School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 245 | 1 | |a A Hierarchical Distributed Control System Design for Lower Limb Rehabilitation Robot | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a With the acceleration of global aging and the rising incidence of stroke, the demand for lower limb rehabilitation has been steadily increasing. Traditional therapeutic methods can no longer meet the growing needs, which has led to the widespread application of robotic solutions to address labor shortages. In this context, this paper presents a hierarchical and distributed control system based on ROS 2 and Micro-ROS. The distributed architecture decouples functional modules, improving system maintainability and supporting modular upgrades. The control system consists of a three-layer structure, including a high-level controller, Jetson Nano, for gait data processing and advanced command generation; a middle-layer controller, ESP32-S3, for sensor data fusion and inter-layer communication bridging; and a low-level controller, STM32F405, for field-oriented control to drive the motors along a predefined trajectory. Experimental validation in both early and late rehabilitation stages demonstrates the system’s ability to achieve accurate trajectory tracking. In the early rehabilitation stage, the maximum root mean square error of the joint motors is 1.143°; in the later rehabilitation stage, the maximum root mean square error of the joint motors is 1.833°, confirming the robustness of the control system. Additionally, the hierarchical and distributed architecture ensures maintainability and facilitates future upgrades. This paper provides a feasible control scheme for the next generation of lower limb rehabilitation robots. | |
| 653 | |a Data processing | ||
| 653 | |a Communication | ||
| 653 | |a Rehabilitation robots | ||
| 653 | |a Robots | ||
| 653 | |a Rehabilitation | ||
| 653 | |a Data integration | ||
| 653 | |a Systems stability | ||
| 653 | |a Gait | ||
| 653 | |a Maintainability | ||
| 653 | |a Motors | ||
| 653 | |a Robust control | ||
| 653 | |a Embedded systems | ||
| 653 | |a Control algorithms | ||
| 653 | |a Control systems design | ||
| 653 | |a Modular systems | ||
| 653 | |a Robot dynamics | ||
| 653 | |a Trajectories | ||
| 653 | |a Root-mean-square errors | ||
| 653 | |a Controllers | ||
| 653 | |a Distributed control systems | ||
| 653 | |a Design | ||
| 653 | |a Modular structures | ||
| 653 | |a Data exchange | ||
| 653 | |a Data transmission | ||
| 653 | |a Multisensor fusion | ||
| 700 | 1 | |a Dong Jinkang |u School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 700 | 1 | |a Teng Rui |u School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 700 | 1 | |a Liu, Ping |u Zhongyuan-Petersburg Aviation College, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 700 | 1 | |a Yue Xuebin |u School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 700 | 1 | |a Zhang, Xiang |u School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China | |
| 773 | 0 | |t Technologies |g vol. 13, no. 10 (2025), p. 462-485 | |
| 786 | 0 | |d ProQuest |t Materials Science Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3265951464/abstract/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3265951464/fulltextwithgraphics/embedded/75I98GEZK8WCJMPQ?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3265951464/fulltextPDF/embedded/75I98GEZK8WCJMPQ?source=fedsrch |