融合功能性电刺激的下肢外骨骼机器人协同控制研究

发布时间：2019-01-05 05:42

【摘要】：对于由脊髓损伤或脑卒中等疾病所造成瘫痪的病人而言,运动康复治疗非常重要,可以促进中枢神经系统的可塑性修复。目前,高级的运动康复系统主要分为两种,即功能性电刺激和外骨骼康复机器人。虽然功能性电刺激和外骨骼康复机器人在运动康复领域都有成功的应用实例,并且两者都有一些商业化的产品,但是两者固有的一些缺陷使其难以达到满意的康复效果。近年来,融合这两种技术的混合式康复系统逐渐成为康复工程领域研究的热点。本文针对下肢混合式康复系统的应用要求,提出了协同控制方法,并通过仿真和实验的手段进行了验证。该协同控制方法旨在协调功能性电刺激和外骨骼机器人产生力矩的分配。该方法利用中枢模式发生器(CPG)产生功能性电刺激和外骨骼的运动参考轨迹,并调整其相位差来保持两种辅助技术相互协调。此外,本文还搭建了膝关节混合式康复系统实验平台,使用串联弹性驱动器实现了稳定的力矩控制。基于该平台,设计了合理的实验范式,在健康受试者和瘫痪患者身上进行了评估实验,通过对实验数据进行分析表明膝关节混合式康复系统在协同控制的调节下能够平衡功能性电刺激和外骨骼的辅助作用。针对下肢单自由度和两自由度的理论仿真和实验结果都证明了将功能性电刺激和外骨骼机器人融合的可行性及优越性,为将来的临床实验打下了坚实的基础。
[Abstract]:For patients with paralysis caused by spinal cord injury or stroke, motor rehabilitation is very important and can promote the plasticity of the central nervous system. At present, advanced motor rehabilitation systems are mainly divided into two types, namely functional electrical stimulation and exoskeleton rehabilitation robot. Although both functional electrical stimulation and exoskeleton rehabilitation robots have successful applications in the field of motor rehabilitation and both have some commercial products, some inherent defects of both have made it difficult to achieve satisfactory rehabilitation effects. In recent years, the hybrid rehabilitation system with these two technologies has gradually become a hot spot in the field of rehabilitation engineering. According to the application requirement of lower extremity hybrid rehabilitation system, a collaborative control method is proposed in this paper, which is verified by simulation and experiment. The cooperative control method is designed to coordinate the distribution of torque generated by functional electrical stimulation and exoskeleton robot. In this method, the central mode generator (CPG) is used to generate the functional electrical stimulation and the motion reference trajectory of exoskeleton, and the phase difference is adjusted to maintain the coordination between the two auxiliary technologies. In addition, the experimental platform of hybrid rehabilitation system of knee joint is built, and the stable torque control is realized by using series elastic driver. Based on the platform, a reasonable experimental paradigm was designed to evaluate the healthy subjects and paralyzed patients. The analysis of experimental data shows that the hybrid rehabilitation system of knee joint can balance the function of functional electrical stimulation and exoskeleton. The theoretical simulation and experimental results for the single and two degrees of freedom of the lower extremities have proved the feasibility and superiority of fusion of functional electrical stimulation and exoskeleton robot, which will lay a solid foundation for future clinical experiments.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R49;TP242

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