仿生踝关节辅助康复装置的构型研究与设计

发布时间：2018-08-18 15:22

【摘要】：伴随各种运动的产生,人类踝关节不断承受各种各样的冲击,使得踝关节成为运动损伤中最易受伤的关节之一。而踝关节损伤或手术之后,如何使其尽快恢复其机能,无疑也是一个重要的课题。为实现踝关节辅助康复,本课题设计了一种新型的、基于球销副的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节背屈/跖屈运动、内翻/外翻运动以及它们的复合运动,可根据患者的不同康复阶段选择不同的控制模式,不同的运动幅度和不同的运动频率,对人体踝关节进行康复治疗。本文首先介绍了目前国内外仿人踝关节机构和踝关节康复机构的研究概况。其次,根据人体踝关节的运动特点,建立了踝关节的机构学模型,再依据机构学模型综合出了一种实现背屈/跖屈运动、内翻/外翻运动以及复合运动的,具有两个主动驱动的,但能近似实现三维运动的踝关节辅助康复装置机构方案。在确定该装置的机构方案后,对装置进行了运动建模,即针对结构采用的刚柔组合驱动的模式,对刚柔组合驱动与刚性驱动模式分别进行建模分析,给出了相关计算公式,并采用Matlab软件进行了计算。同时,采用Recurdyn仿真软件对该装置进行了仿真分析,并与Matlab理论计算的结果进行了比较。在此基础之上,对装置的控制系统进行了研究,分别研究了控制系统硬件与软件;控制系统硬件设计主要包括电机的选取,控制器的选择等;软件设计主要包括电机控制模块软件结构,CAN总线通讯等;建立了人机友好交互界面。最后搭建了踝关节辅助康复装置的实验平台,并完成了初步的实验。
[Abstract]:With the emergence of various kinds of sports, the human ankle has been subjected to a variety of shocks, making the ankle become one of the most vulnerable joints in sports injuries. How to restore the ankle joint function as soon as possible after the ankle injury or operation is undoubtedly an important issue. In order to achieve ankle joint rehabilitation, a new bionic ankle joint rehabilitation device based on ball pin pair was designed in this paper. The device has two degrees of freedom, but it can achieve the ankle dorsiflexion / metatarsal flexion approximately. Varus / valgus exercise and their combined exercise can be used to rehabilitate the ankle according to the different control mode, different movement amplitude and different movement frequency of the patients in different rehabilitation stages. This paper first introduces the research situation of humanoid ankle mechanism and ankle rehabilitation mechanism at home and abroad. Secondly, according to the motion characteristics of the human ankle joint, the mechanism model of the ankle joint is established, and according to the mechanism model, a kind of motion of dorsiflexion / metatarsal flexion, varus / valgus and compound motion is synthesized. There are two active drive, but can approximately realize three-dimensional motion of the ankle joint auxiliary rehabilitation device mechanism. After determining the mechanism scheme of the device, the motion model of the device is established, that is, the rigid-flexible combination drive and the rigid driving mode are modeled and analyzed respectively, and the relevant calculation formulas are given. The calculation is carried out by Matlab software. At the same time, the Recurdyn simulation software is used to simulate and analyze the device, and the results are compared with the results of Matlab theory. On this basis, the control system of the device is studied, the hardware and software of the control system are studied respectively, the hardware design of the control system mainly includes the selection of the motor, the selection of the controller, etc. The software design includes motor control module software structure and can bus communication, and establishes man-machine friendly interface. Finally, the experimental platform of ankle joint auxiliary rehabilitation device was built, and the preliminary experiment was completed.
【学位授予单位】：郑州轻工业学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R496;TP242

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