人体下肢肌痉挛康复装置研究

发布时间：2018-02-21 18:30

本文关键词： 下肢康复人机工程学间断性牵引法力闭环控制电动推杆　出处：《大连理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：在我国,由于老龄化人口迅速增多,一些老年病如脑溢血、高血压等随之增加,而由脑溢血引起的偏瘫则成为了当代康复医学的难题。目前临床康复已取得了一定成果,但是大部分康复中心采用外骨骼式康复机器人对患肢进行康复。外骨骼式有其先天优势,即可以模拟人体正常行走时的步态进行康复治疗,使患者恢复行走能力。但是痉挛期病人关节活动度很小,患肢基本处于绷直状态,如果康复时运动角度超过病人许用安全角度,则很容易造成二次拉伤。基于此种思想,本文将设计一款新型下肢肌痉挛康复装置,以满足患者痉挛期的需要。本文首先对偏瘫引起下肢肌痉挛的病理进行了研究,了解下肢结构和运动机理,总结了临床上的主要康复方法。分析外骨骼式的康复方法优缺点,基于神经可修复理论,提出一种新型康复方案——间断性牵引法,采用新型控制策略——力闭环控制,代替外骨骼式的PVT控制模式。在机构设计方面,查找人体相关参数,依据人机工程学理论,使人机之间达到最佳适应性。整体采用可升降座椅式设计,电动推杆作为驱动,具有两个关键自由度,驱动膝、踝两关节；座椅靠背在0～83°范围内可调,保证患者的舒适度。考虑到康复模式和受力情况,还需要对装置进行运动学和应力应变仿真。传感器系统则采用拉压力传感器和绝对式编码器,采集力信号和角度信号反馈给控制系统,并作为评价指标实时显示在屏幕上,用于评估康复进程。然后编写控制流程图,为编辑程序做准备。另外,患者的安全性需要保证,除了机械装置自身限位功能之外,还要设计急停断电按钮,如果超过安全角度则立刻断电。本文所设计的康复装置是针对痉挛期病人的被动康复治疗,因为此阶段治疗最困难、最复杂也是最重要的,而当前市场中的外骨骼基本是贯穿整个治疗过程,没有痉挛期的针对性治疗,故此康复装置的应用前景是十分广泛的。
[Abstract]:In China, due to the rapid increase of the aging population, some senile diseases such as cerebral hemorrhage, hypertension and so on have increased, while hemiplegia caused by cerebral hemorrhage has become a difficult problem in modern rehabilitation medicine. At present, some achievements have been made in clinical rehabilitation. But most rehabilitation centers use exoskeleton rehabilitation robots to rehabilitate the affected limbs. Exoskeleton has its innate advantage, that is, it can simulate the human body's gait while walking normally. But during the spastic period, the patient's joint motion is very small, the affected limb is basically in a strained state, and if the angle of movement is higher than the patient's safe angle during rehabilitation, it is easy to cause a secondary strain. In this paper, a new rehabilitation device for lower extremity muscle spasm was designed to meet the needs of patients during spasticity. Firstly, the pathology of lower extremity spasm caused by hemiplegia was studied in order to understand the structure and movement mechanism of lower extremity. This paper summarizes the main clinical rehabilitation methods, analyzes the advantages and disadvantages of exoskeleton rehabilitation methods, and based on the theory of nerve repairable, puts forward a new rehabilitation scheme-intermittent traction method, and adopts a new control strategy-force closed loop control. Instead of exoskeleton PVT control mode. In the aspect of mechanism design, find the related parameters of human body, according to the theory of ergonomics, make the best adaptability between man and machine. It has two key degrees of freedom, driving the knee and ankle joints, and the back of the seat is adjustable in the range of 0 掳83 掳to ensure the patient's comfort. It is also necessary to simulate the kinematics and stress and strain of the device. The sensor system adopts tension and pressure sensors and absolute encoders to collect the force signals and angle signals to the control system and display them on the screen as an evaluation index in real time. To evaluate the rehabilitation process. Then write a control flow chart to prepare for editing the program. In addition, the patient's safety needs to ensure that in addition to the mechanical device's own limit function, but also the design of emergency power off button, The rehabilitation device designed in this paper is passive rehabilitation for spastic patients because it is the most difficult, the most complex, and the most important. The exoskeleton in the current market basically runs through the whole treatment process, and there is no targeted therapy in the spasmodic period, so the application prospect of the rehabilitation device is very extensive.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496

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