智能医疗康复机器人驱动控制系统设计

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中图分类号：TP273 文献标志码：A 文章编号：2095-2945(2025)27-0020-04

Abstract:Withthecontinuousadvancementofmedicaltechnologyandtheintensificationofpopulationagingproblems, medicalrehabilitationrobotsarebecomingmoreandmorewidelyusedinthefieldofrehabitationmedicine.Thispaperaimsto designadriveandcontrolsystemformedicalrehabitationrobotsbasedon STM32.Thesystemusesthe STM32microcontroler toacuratelycontrolthebrushlessDCmotor,therebydrivingtheroboticarmofthemedicalrehabilitationrobotforrehabliation training.Thispaperintroducesthehardwaredesign，softwareimplementationandaplicationofPIDcontrolalgorithmofthe system in detail,and verifies the stability and reliability of the system through experiments.

Keywords: STM32; rehabilitation robot; drive control system; PID control algorithm; system design

随着全球人口老龄化的不断加剧，以及现代医疗技术的飞速发展，医疗康复领域正经历着前所未有的变革。（剩余6175字）