目前病患在接受復健治療時，都是由治療師以徒手方式，施於各種不同的治療方法引導出病患做出動作，在醫院的復健治療師有限情況下，每天所能夠協助的病患亦有限。而在現有的復健機構上有單一的手、足復健以及使用同步方式根據病患需求之阻力帶動手腳復健，其中有電動式帶動以及自行帶動機構兩種方式。 上述所提到之常見復健機並無同時擁有電動帶動及自行帶動之機構。而在本論文中所研究的內容為手足運動器材使之擴增相關機構及配合電路具有復健功能之輔具，主要是要讓病患能夠實現自我足部及手部復健之目的。此系統可區分為四個部分:永磁同步電動機/發電機切換控制、永磁式磁阻控制、電磁式磁阻控制與電動機扭矩控制。當切換至電動機模式下時，同步馬達以定轉速轉動機構帶動病患作復健;當切換至發電機模式下時，病患可自行轉動機構帶動發電機運轉，並利用，輸出一穩定電壓。在此模式下，若需要更高強度的復健時，利用渦電流制動原理調整永磁式定位距離與電磁式之磁場大小以及使馬達在電流控制迴路下輸入扭矩命令，讓患者感受到阻力。 ;Currently patients receive rehabilitation which therapists use different therapies with his bare hands to lead patients to do the actions, however, with the limited therapies in a hospital, the number of the patients who can receive the treatment is limited too. And there is a single mode of the existing rehabilitation for hand and foot rehabilitation and the use of a synchronous drive limbs rehabilitation of patients according to their needs of resistance, including electric drive and self-drive mechanism in two ways. The above mentioned common rehabilitation machine does not have both electric drive and drive of their own institutions in the same time. Refer to this papers, which does studies of sports equipment for the hands and feet to make it relevant agencies and with the amplification circuit having a function of rehabilitation aids, its main purpose is to enable patients to achieve self feet and hands of rehabilitation. This system can be divided into four parts: a permanent magnet synchronous motor generator switching control, the permanent magnet and electromagnetic resistance control, and a permanent magnet synchronous motor torque control. When the system is switched to motor mode, the field-oriented control of PMSM with a fixed speed rotation mechanism stimulates rehabilitation. In generator mode, the patient may rotate the mechanism to propel generator operation using a three-phase rectifier diode for DC voltage to generate a stable output voltage which is stored in the buck-boost converter to recharge battery. If higher strength rehabilitation is desired, the permanent magnet and electromagnetic fields can be adjusted by rotating the flywheel to cut the magnetic flux and to generate resisting forces due to eddy current effect to speed up recovery. This rehabilitation system includes the microprocessor (DSP, TMS320F28335/ TMS320F28035) for the control of core operations and PMSM control module (TMDSHVMTRPFCKIT) developed by Texas Instruments to achieve system stability and reliability.
