This paper aims to design a knee rehabilitation device which can help the knee patients to perform movement in bending leg manner. And in that way the rehabilitation process will be improved greatly. The design of the device includes the mechanical main body design, driving motor, and control circuit which contains the keyboard setting, display unit and clock unit. Through the pulse width modulation (PWM) technology the stepping motor is driven and the automatic bent in leg is achieved. During the exercise the following information is known: the starting time, the lasting time, the angle of movement and the speed of movement. The micro controller unit (MCU) is responsible for the information processing from both the key and liquid crystal display (LCD). After the key inputs the given parameters the stepping motor can output the desired motions. Meanwhile, the LCD can display the input information. Now the project has accomplished the preliminary design, and the concrete scheme is shown in this paper.
Pneumatic direct-drive stepping motor for robots
