基于虚拟现实的穿戴式气动上肢康复机器人控制研究

发布时间：2018-03-04 22:03

本文选题：康复机器人　切入点：穿戴式　出处：《华中科技大学》2016年硕士论文　论文类型：学位论文

【摘要】：脑卒中是老龄化社会中最为常见的疾病之一。脑卒中后引发的运动功能障碍使得患者成为了社会和家庭的沉重负担。目前,引进康复机器人对偏瘫患者进行康复训练从而使患者恢复部分运动能力已经成为了一种趋势。然而大多数医院的康复设备笨重、无法移动,患者训练时感到不舒适,参与性不高,因此康复效果不理想。基于此,本文提出了一种基于虚拟现实的气动外骨骼上肢康复机器人,并对其控制策略进行了研究。根据偏瘫患者的康复需求和康复医学理论,本文设计了一种气动外骨骼上肢康复机器人,并介绍了其机械结构设计、控制系统设计以及工作原理。然后搭建气动肌肉特性实验平台对其等长特性和等压特性进行了研究,并建立了气动肌肉的静态模型。随后,基于气动肌肉模型对双向对拉关节驱动进行了建模和实验,实验结果证明了模型的有效性。为了提高康复机器人的控制效果,本文讨论了PID控制并在其基础上提出了模糊PID控制算法,实验结果证明了模糊PID算法的精确度和稳定性。基于患者对与安全性和舒适性的要求,我们引进了滑模代理控制(PSMC)。该控制具有抗干扰的能力,并将其经扰动后的控制效果与传统控制进行了对比。最后,介绍了为提高康复训练效果而配套研制的虚拟现实平台。该平台的虚拟现实环境在Panda3D环境下研发,搭载了眼动仪配合使用。康复机器人与虚拟现实平台结合起来,通过眼动仪实现了患者的主动意图,通过虚拟现实环境为治疗师和患者反馈康复训练效果,从而提高患者的积极性,增强康复训练的效果。
[Abstract]:Stroke is one of the most common diseases in an aging society. Motor dysfunction after stroke makes patients a heavy burden on society and families. It has become a trend to introduce rehabilitation robots to rehabilitate hemiplegic patients so that they can recover some of their motor abilities. However, most hospitals have heavy, immobile rehabilitation equipment, and the patients feel uncomfortable during training. This paper presents a pneumatic exoskeleton upper limb rehabilitation robot based on virtual reality. According to the rehabilitation needs of hemiplegic patients and the theory of rehabilitation medicine, a kind of pneumatic exoskeleton upper limb rehabilitation robot is designed, and its mechanical structure design is introduced. Control system design and working principle. Then, the isometric and isobaric characteristics of Pneumatic muscle were studied on a pneumatic muscle experimental platform, and the static model of Pneumatic muscle was established. Based on the pneumatic muscle model, the bidirectional pull joint drive is modeled and experimented. The experimental results show that the model is effective. In order to improve the control effect of the rehabilitative robot, In this paper, the PID control is discussed and a fuzzy PID control algorithm is proposed. The experimental results show that the fuzzy PID algorithm is accurate and stable, based on the patient's requirements for safety and comfort. We have introduced the sliding mode agent control (PSMCN). The control has the ability of anti-interference, and the control effect after disturbance is compared with the traditional control. This paper introduces the virtual reality platform developed in order to improve the effect of rehabilitation training. The virtual reality environment of the platform is developed under the environment of Panda3D, and the eye movement instrument is used together. The rehabilitation robot is combined with the virtual reality platform. The active intention of patients was realized by eye movement instrument, and the effect of rehabilitation training was feedback by virtual reality environment for therapists and patients, so as to improve the enthusiasm of patients and enhance the effect of rehabilitation training.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242;TP391.9

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