Design of a Wearable Lower-Limb Assisted Walking Device Control System Based on STM32
Keywords:
STM32, Wearable Lower-Limb Rehabilitation Assisted Walking Device, Control System, Motor Drive, Gait Recognition, Embedded SystemAbstract
With the intensification of population aging, the number of patients with lower-limb motor dysfunction continues to increase, and existing assisted walking devices suffer from insufficient intelligence. To address this, this paper designs a wearable lower-limb assisted walking device control system based on the STM32F103C8T6 microcontroller. The system employs MPU6050 inertial measurement units and rotary potentiometers to acquire hip and knee joint angles, combined with plantar pressure sensors for gait phase recognition. Four DC motors are driven by TB6612FNG drivers to output assistive torque. Wi-Fi communication enables data exchange with a host computer, while an OLED display, buttons, and a buzzer constitute the human-machine interaction layer. Experimental results demonstrate that the system achieves a gait recognition accuracy of 93.6%, motor response time of 22 ms, joint angle error of ±1.3°, and a battery life of approximately 1.3 hours. The system exhibits good real-time performance and reliability, and can effectively assist patients with lower-limb impairment in daily walking, demonstrating considerable potential for wider application.
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