脑机接口技术下仿生手的结构建模及分析

发布时间：2019-07-05 10:57

【摘要】：随着社会的发展和进步,肢体残障尤其是重度肢体残障患者的生活质量越来越受到社会的重视。提高他们的生活质量,让他们更有尊严的生活,成为国家和社会关注的问题。因此,假肢的开发和研制成为本领域研究的热点,尤其是仿生手的研究成为其重点方向,并取得有了较大的进步。随之,对于这些仿生手的控制源信号问题也在不断的探索中。近年来,随着脑机接口技术的发展和成熟,为那些肌肉损伤和重度瘫痪的患者提供了新的交流手段,患者可以通过脑电信号来控制仿生手的运动,以给生活带来极大的便利。本文在对仿生手及其控制源的研究现状进行深入分析总结基础上,对仿生手的结构进行了优化设计、建立模型,并对其性能进行了分析,并对其应用于脑机接口技术下的整个系统进行了构建及模拟仿真。首先,从仿生角度出发,在以人手的结构和尺寸为设计基础上,对仿生手的结构形式及参数进行优化分析,利用有限元分析软件对仿生手进行具体结构的三维建模。包括拇指和食指及其他三根手指的模型,手掌及指根部的三维模型,手指内部剖面连动机构的示意模型以及整个仿生手的三维结构模型。其次,对所设计及建立的仿生手结构模型进行验证性分析,利用有限元分析软件对手指结构进行结构静力学分析,优化手指指骨厚度,确定指骨厚度为2.5mm。采用D-H参数表示法,建立动力学模型,并根据建立的手掌、拇指、食指坐标系,推导出各手指各关节末端坐标的运动学方程,根据这些方程,利用MATLAB软件进行拇指、食指的平面及空间运动轨迹分析,从而验证了所设计仿生手的结构的合理性及尺寸正确性。进一步利用ANSYS软件对仿生手整体运动姿态进行了仿真。最后,对仿生手应用于脑机接口系统下的整个应用系统在软件中进行了搭建,实验对大鼠“伸-缩”行为时产生的脑部神经电信号进行了采集、检测、特征提取及信号分类,得出大鼠前肢“伸-缩”行为时分类的两类信号,通过控制单元仿真电路模块对该两类信号进行解码,解码得出的两个指令分别在软件上进行模拟控制仿生手两指的捏-展动作的运动仿真。
文内图片：

图片说明：图１－１装饰性假手逡逑
[Abstract]:With the development and progress of society, the quality of life of people with physical disabilities, especially those with severe physical and mental disabilities, is becoming more and more important. To improve their quality of life and to make them a more dignified life is a matter of national and social concern. Therefore, the development and development of the artificial limb has become the hot spot of the research in this field, especially the research of the bionic hand becomes its focus, and has made great progress. As a result, the control source signal problem for these bionic hand is also in the constant exploration. In recent years, with the development and maturity of the computer interface technology, a new communication means is provided for patients with muscle damage and severe paralysis, and the patient can control the movement of the bionic hand through the electric signal of the brain, so as to bring great convenience to the life. Based on the analysis of the present situation of the bionic hand and its control source, the structure of the bionic hand is optimized, the model is established, the performance is analyzed, and the whole system applied to the interface technology of the brain machine is constructed and simulated. First, based on the structure and size of the human hand, the structure form and the parameters of the bionic hand are optimized and analyzed, and the three-dimensional modeling of the specific structure of the bionic hand is carried out by using the finite element analysis software. Comprises a model of a thumb and an index finger and other three fingers, a three-dimensional model of the palm and the finger root, a schematic model of the internal cross-section linkage mechanism of the finger, and a three-dimensional structural model of the whole bionic hand. Secondly, the design and the established biomimetic hand structure model is analyzed, and the structure and static analysis of the finger structure is carried out by using the finite element analysis software, and the finger phalanx thickness is optimized, and the finger bone thickness is determined to be 2.5 mm. A dynamic model is established by using the D-H parameter representation, and the kinematic equations of the joint end coordinates of each finger are derived according to the established palm, the thumb and the index finger coordinate system. According to the equations, the plane of the thumb and the index finger and the spatial motion track analysis are carried out by using the MATLAB software, So that the rationality and the size correctness of the structure of the designed bionic hand are verified. The whole motion attitude of the bionic hand is simulated by using the ANSYS software. finally, the whole application system applied to the brain machine interface system of the bionic hand is set up in the software, and the brain nerve electrical signals generated in the rat "extension-contraction" behavior are collected, detected, The two types of signals classified by the "extension-contraction" behavior of the forelegs of the rat are obtained. The two kinds of signals are decoded by the control unit simulation circuit module, and the two instructions obtained by the decoding are respectively simulated and controlled on the software to control the motion simulation of the pinch-show action of the bionic hand and the two fingers.
【学位授予单位】：新乡医学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP241;R49

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