坐姿肢体协调训练康复机器人的设计与研究

发布时间：2018-03-05 20:06

本文选题：坐姿康复机器人　切入点：肢体协调训练　出处：《合肥工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：近年来,由生理机能衰退、中风偏瘫、脊髓损伤等原因导致的肢体运动功能障碍的患者数量越来越多,通过简单的医疗设备或人工康复护理对其进行康复治疗,已经远不能满足他们的需求。康复机器人不仅能减轻护理人员工作强度、保证患者康复训练强度和效率,而且能客观的评价患者的康复效果,因而得到了广泛关注,具有广阔的研究和应用前景。本论文在分析国内外康复机器人领域研究现状的基础上,依据运动康复机理,研制了一种基于坐姿的具有肢体协调训练功能的新型康复机器人,具体进行了如下工作：文章分析了人体上下肢生理结构、肢体主要关节活动度,以及人体正常行走时上下肢的协调规律和运动轨迹,提出了康复机器人的设计要求。通过设计试验探求了坐姿状态下满足设计要求的肢体运动规律。在此基础上创新设计出七连杆变胞机构作为肢体协调训练机构,通过改变机构的自由度和工作位置来改变机构运动参数,实现康复训练轨迹位置和幅度的可调节,并利用Pro/E软件设计了康复机器人的虚拟样机。对康复训练机构进行正逆运动学分析,推导出机构末端的正逆运动学方程。利用Matlab/SimMechanics建立相应的仿真模型,进行了运动学的正逆分析验证,得出了机器人的工作空间,为机器人运动控制和规划打下了基础。本文研究了康复训练机构工作位置的确定方法。针对不同身高的患者,建立患者与康复训练机构的人机模型,通过模型仿真得出患者的各个肢体关节活动曲线和数据来确定康复机器人工作位置。针对不同幅度的训练,采用优化设计的方法确定康复机器人的工作位置。文章最后研制出了康复机器人样机,并进行了肢体协调训练功能实验、实现规划训练幅度功能实验、机构自动调节功能实验。实验结果表明,机器人能够满足不同患者的上下肢协调训练康复需求。
[Abstract]:In recent years, the number of patients with motor dysfunction caused by physiological decline, apoplexy hemiplegia, spinal cord injury and other reasons is increasing. Rehabilitation treatment is carried out through simple medical equipment or artificial rehabilitation nursing. Rehabilitation robot can not only reduce the working intensity of nursing staff, guarantee the intensity and efficiency of rehabilitation training, but also objectively evaluate the rehabilitation effect of patients. Based on the analysis of the present research situation in the field of rehabilitation robots both at home and abroad and on the basis of the mechanism of motor rehabilitation, a new rehabilitation robot with coordinated training function of limbs is developed based on sitting posture. The following work has been carried out:. The physiological structure of the upper and lower extremities, the range of motion of the main joints of the limbs, the coordination law and the movement track of the upper and lower limbs during the normal walking of the human body were analyzed in this paper. In this paper, the design requirements of rehabilitation robot are put forward, and the rules of limb motion in sitting posture are explored through design experiments. On the basis of this, a seven-link variable cell mechanism is designed as a coordinated limb training institution. By changing the degree of freedom and the working position of the mechanism, the kinematic parameters of the mechanism can be changed, and the position and amplitude of the rehabilitation training track can be adjusted. The virtual prototype of the rehabilitation robot is designed by using Pro/E software. The forward and inverse kinematics equations at the end of the rehabilitation training institution are analyzed, and the corresponding simulation model is established by using Matlab/SimMechanics. The kinematics analysis and inverse analysis are carried out, and the workspace of the robot is obtained. It lays the foundation for robot motion control and planning. In this paper, the method of determining the working position of rehabilitation training institutions is studied. A man-machine model of patients and rehabilitation training institutions is established for patients with different heights. The working position of rehabilitation robot is determined by model simulation, and the optimal design method is used to determine the working position of rehabilitation robot. Finally, the prototype of rehabilitation robot is developed, and the function experiment of limb coordination training is carried out, which realizes the function experiment of planning training amplitude and automatic regulation of mechanism. The experimental results show that, The robot can meet the rehabilitation needs of different patients with coordinated training of upper and lower limbs.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R49;TP242

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