肩关节康复训练设备及保护装置的设计与仿真

发布时间：2018-02-03 18:17

本文关键词： 上肢康复 4-RRRR 肩关节机构保护装置　出处：《广东工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着社会经济的发展和医学科学的进步,脑卒中等伤病患者的死亡率明显下降,而留有后遗症和功能障碍的病人逐渐增多。同时人口老龄化进程加速也使老年性疾病和慢性病的发病率急剧上升,顺应这一趋势人们对医疗服务的要求不再局限于急救水平的高低,转而更为重视功能的恢复。多数偏瘫患者都需要一个系统、有序、连续且长期的康复过程,开发研究适合社区以及家用的上肢康复医疗设备成为了当前急需解决的问题。对于康复设备最重要的是安全性,本文的研究目的是开发一种肩关节康复训练设备及保护装置。本文首先调研分析了康复在医学上的理论依据,包括脑重塑理论和运动再学习理论,从人体仿生机理出发,为康复机器人设计了一种4-RRRR肩关节机构。该肩关节机构设计应用于外骨骼上肢康复机器人,具有与人体肩关节相一致的活动空间。驱动方式选择为气动人工肌肉,气动人工肌肉是一种体积小巧、柔软、重量轻、工作简单、容易控制的仿生学产品,它由压缩空气驱动作推拉动作,其过程就像人体的肌肉运动。使机构运动具有良好的柔顺性,提高患者使用的舒适程度。由于气动人工肌肉运动的非线性导致肩关节机构的运动范围难以精确控制,对于医疗康复机器人而言最重要的是安全性。本文为4-RRRR肩关节机构设计了独立的保护装置,装置的所有杆件零件均组装在箱体之中使过量保护装置外观简洁,方便安装。气动人工肌肉驱动为肩关节机构提供了柔性的运动,刚性的过量保护装置可以精确的控制肩关节机构的活动范围,软件和硬件两方面的安全措施防止对患者造成二次伤害。为了直观的分析机构的运动效果同时防止因多次加工样机造成资源的浪费,本文最后在SolidWorks中进行了完整的三维模型的构建,并装配为虚拟样机。使用SolidWlorks Motion插件对机构进行运动仿真,参照康复医师训练方案将仿真分为单输入、双输入和复合运动三种情况,马达曲线采用数据点拟合模拟气动人工肌肉的非线性输入,最后输出运动数据和运动仿真动画。将运动数据与人体肩关节数据相对比,机构运动范围与人体肩关节运动范围一致。仿真动画直观的展示运动效果,机构运动具有良好的运动柔顺性。
[Abstract]:With the development of social economy and the progress of medical science, the mortality rate of patients with stroke and other injuries has decreased significantly. The number of patients with sequelae and dysfunction is increasing. Meanwhile, the accelerated aging of the population also leads to a sharp increase in the incidence of senile diseases and chronic diseases. To comply with this trend, the demand for medical services is no longer limited to the level of first aid, but more attention to functional recovery. Most hemiplegic patients need a systematic, orderly, continuous and long-term rehabilitation process. Developing and researching upper limb rehabilitation medical equipment suitable for community and household has become an urgent problem at present. The most important thing for rehabilitation equipment is safety. The purpose of this paper is to develop a kind of shoulder rehabilitation training equipment and protective device. Firstly, this paper investigates and analyzes the theoretical basis of rehabilitation in medicine, including brain remodeling theory and motor re-learning theory. Based on the biomimetic mechanism of human body, a 4-RRRR shoulder joint mechanism was designed for the rehabilitation robot, which was applied to the exoskeleton upper limb rehabilitation robot. Pneumatic artificial muscle is a bionic product with small volume, soft, light weight, simple work and easy control. It is driven by compressed air for push-pull action, its process is like the muscle movement of the human body. Because of the nonlinear movement of pneumatic artificial muscle, the range of motion of shoulder joint mechanism is difficult to control accurately. Safety is the most important thing for medical rehabilitation robot. In this paper, an independent protection device is designed for 4-RRRR shoulder joint mechanism. All the member parts of the device are assembled in the box to make the over-protective device simple and easy to install. The pneumatic artificial muscle drive provides flexible motion for the shoulder joint mechanism. Rigid overprotective device can accurately control the range of motion of the shoulder joint mechanism. Software and hardware safety measures to prevent secondary injury to patients. In order to intuitively analyze the movement effect of the mechanism and prevent the waste of resources caused by multiple prototyping. At the end of this paper, a complete 3D model is constructed in SolidWorks. SolidWlorks Motion plug-in is used to simulate the movement of the mechanism, and the simulation is divided into single input according to the training plan of rehabilitation doctors. In the case of double input and compound motion, the nonlinear input of pneumatic artificial muscle is simulated by the data point fitting of the motor curve. Finally, we output motion data and motion simulation animation. Compare motion data with human shoulder joint data, the range of mechanism motion is consistent with human shoulder motion range. Simulation animation intuitively shows the effect of motion. The mechanism motion has the good movement compliance.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH789

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