基于加速度计的下肢康复机器人示教训练应用研究

发布时间：2018-04-21 13:27

本文选题：加速度计 + 下肢康复机器人　；参考：《燕山大学》2015年硕士论文

【摘要】：目前,我国肢体残障患者众多,康复医学理论证明,对这些患者进行科学的、系统的康复训练,能有效地恢复与提高其肢体的运动功能。传统的人工康复训练与机器人康复训练各有利弊,只有将康复治疗人员的临床经验与康复机器人的康复训练相结合,才能提供有效、稳定、重复性好的训练方法,而且能够量化训练参数,从而用于制定科学的、最优的康复训练计划,提高训练效率。本课题研究了基于加速度计的人体下肢运动信息采集方法,并研制了相关的无线数据采集系统。该无线数据采集系统可以记录康复治疗人员的临床训练过程,用于康复机器人的示教训练。首先,在人体矢状面内建立了人体单侧下肢运动模型。采用递推的牛顿-欧拉方法,基于ADXL345建立了加速度数据与关节角度之间的数学关系。采用Denavit和Hartenberg提出的“D-H法”对该模型的运动学进行了理论分析,建立关节角度与末端运动轨迹的关系。其次,研制了无线数据采集系统硬件电路,并对各模块电路原理进行了分析介绍。系统阐述了串口通信模块、加速度计模块、无线数据通信模块和主从系统控制单元模块等四部分的下位机软件设计,并利用串口助手对下位机软件程序进行了调试。最后,采用Lab VIEW软件完成了上位机软件的编写,介绍了软件开发的用户界面和操作流程。进行了无线数据采集系统静态测量误差分析实验、系统标定实验、下肢末端轨迹测量实验以及下肢康复机器人示教训练实验,验证了采用本文所述无线数据采集系统进行下肢康复机器人示教训练的可行性。
[Abstract]:At present, there are many patients with physical disability in China. The theory of rehabilitation medicine proves that scientific and systematic rehabilitation training for these patients can effectively restore and improve the motor function of their limbs. Traditional artificial rehabilitation training and robot rehabilitation training have their own advantages and disadvantages. Only by combining the clinical experience of rehabilitation therapists with rehabilitation training of rehabilitation robots can effective, stable and reproducible training methods be provided. Moreover, the training parameters can be quantified to make scientific and optimal rehabilitation training plan and improve training efficiency. In this paper, the method of collecting human lower limb motion information based on accelerometer is studied, and a wireless data acquisition system is developed. The wireless data acquisition system can record the clinical training process of rehabilitation treatment personnel and be used for the training of rehabilitation robot. First of all, in the sagittal plane of the human body, a unilateral lower limb motion model was established. The mathematical relationship between acceleration data and joint angle is established based on ADXL345 using the recursive Newton-Euler method. The kinematics of the model is theoretically analyzed by using D-H method proposed by Denavit and Hartenberg, and the relationship between the angle of joint and the trajectory of terminal motion is established. Secondly, the hardware circuit of wireless data acquisition system is developed, and the circuit principle of each module is analyzed. The software design of serial port communication module, accelerometer module, wireless data communication module and master-slave system control unit module is introduced, and the software program of lower computer is debugged by serial port assistant. Finally, Lab VIEW software is used to write the host computer software, and the user interface and operation flow of the software development are introduced. The static error analysis experiment, system calibration experiment, lower extremity terminal trajectory measurement experiment and lower limb rehabilitation robot teaching and training experiment were carried out in wireless data acquisition system. The feasibility of using the wireless data acquisition system described in this paper to teach and train the lower limb rehabilitation robot is verified.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496;TP242

【参考文献】