下肢康复训练系统机械结构设计与控制方法研究

发布时间：2018-04-21 06:41

本文选题：下肢康复训练 + 优化设计　；参考：《吉林大学》2015年硕士论文

【摘要】：在经济飞速发展、人民生活水平提高和老龄化日益严重的背景下，人们对健康问题的重视程度越来越大。尤其是老龄化人群因为偏瘫、摔倒以及某些不良的生活习惯等原因引起的下肢运动功能障碍的问题，已经成为构建和谐社会必须要解决的问题之一。因此，研究一种智能化的下肢康复训练系统，并开发一套与之对应的康复训练控制方法已经引起了社会的广泛关注。基于上述研究背景，本论文研究的下肢康复训练系统的机械结构具有加工方便、安装简单、成本低的优点。并且本论文研究的控制方法不仅可以使患者能够按照健康人体站起姿势进行站起训练，使其避免由于被动牵拉式的受迫运动造成二次伤害，而且可以使患者能够在独立自主的情况下在不同的康复阶段完成相对应训练模式的康复训练，从而使患者收到最佳的训练效果。这对于该下肢康复训练系统的社会化推广及家庭化应用具有重要的实际意义。本论文首先通过对人体运动学和动力学理论以及健康人体从坐姿到站立过程的重心轨迹变化的研究与分析，给出人体起立过程的重心轨迹变化曲线，并根据该研究设计下肢康复训练系统的机械结构,通过CATIA和Hypermesh相结合对其进行建模和力学仿真，并对机械结构进行改进设计与优化计算，使其不但满足期望的力学承重要求,而且达到用料少、质量轻，方便加工生产、拆装、运输以及家庭化使用的目的。同时考虑到患者的实际情况，在不同的康复阶段需要进行针对性的训练，本论文提出了一套下肢康复训练系统的控制方法，，即轨迹控制方法和阻尼控制方法。轨迹控制方法可以使训练者根据设定的程序按照符合自身条件的训练轨迹进行站起康复训练，以达到最佳的训练效果。阻尼控制方法则针对已恢复部分下肢肌肉力的患者，在训练的过程中着重训练患者某一动作时相对薄弱的肌肉力，从而使训练更有效率。通过对受试者在训练过程中的仿真分析，验证该系统的可行性和安全性。最后对本论文所做研究进行总结，讨论工作中的不足，并交待接下来要继续进行的工作。
[Abstract]:With the rapid development of economy, the improvement of people's living standard and the increasingly serious aging, people pay more and more attention to health problems. Especially the problem of lower extremity motor dysfunction caused by hemiplegia, falling down and some bad living habits has become one of the problems that must be solved to build a harmonious society. Therefore, the study of an intelligent lower limb rehabilitation training system and the development of a corresponding rehabilitation training control method have attracted widespread attention. Based on the above research background, the mechanical structure of the lower limb rehabilitation training system studied in this paper has the advantages of easy processing, simple installation and low cost. And the control method studied in this paper can not only enable patients to stand up training according to the standing posture of healthy human body, but also avoid secondary injury caused by passive pull forced exercise. Moreover, the patients can complete the corresponding rehabilitation training in different rehabilitation stages under the condition of independence and autonomy, so that the patients can receive the best training effect. This is of great practical significance for the socialization promotion and family application of the lower limb rehabilitation training system. In this paper, the kinematics and dynamics of human body and the change of the trajectory of the center of gravity from sitting position to standing process are studied and analyzed, and the curve of the trajectory change of the center of gravity in the process of human body standing up is given in this paper. According to this research, the mechanical structure of the lower limb rehabilitation training system is designed, and the mechanical structure is modeled and simulated by CATIA and Hypermesh, and the mechanical structure is improved and optimized to meet the requirements of the desired mechanical load bearing. And achieve the purpose of less material, light weight, convenient processing, disassembly, transportation and family use. At the same time, considering the actual situation of patients, different rehabilitation stages need to be targeted training, this paper proposed a set of lower limb rehabilitation training system control methods, namely, trajectory control method and damping control method. The trajectory control method can make the trainer according to the set procedure according to their own training track to stand up rehabilitation training, in order to achieve the best training effect. The damping control method is aimed at the patients who have recovered part of the lower limb muscle strength. In the course of training, the method focuses on training the relative weak muscle strength of a certain movement of the patient, thus making the training more efficient. The feasibility and security of the system are verified by the simulation analysis of the subjects during the training process. Finally, this paper summarizes the research, discusses the shortcomings of the work, and describes the work to be continued.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273.5;R49

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