基于虚拟现实技术的主动式三自由度上肢康复机器人研究

发布时间：2018-03-11 04:28

本文选题：上肢康复机器人　切入点：虚拟现实　出处：《大连海事大学》2016年硕士论文　论文类型：学位论文

【摘要】：人体上肢运动是由神经系统和运动系统共同协调作用完成,是人类独立生活必不可少的条件之一。运动系统或神经系统出现问题会导致人体肢体障碍,严重者甚至会丧失运动能力,严重影响人的正常生活。脑卒中是一种因人体神经损伤而产生的疾病,通常多发生于中老年人群中。随着医学技术的进步,脑卒中患者的死亡率大幅降低,但是患者治疗后多伴有偏瘫症状。现代研究表明,偏瘫患者神经功能受损后,经过科学的康复训练可使其中枢神经系统完成结构重组和功能代偿,在一定程度上恢复运动功能。目前,传统康复模式中存在着训练方式单一、效率低下等不足,相比之下结合了现代康复医学、计算机虚拟现实技术和工程技术的康复机器人,不仅可以提供多种训练模式帮助患者进行康复,而且采用虚拟现实环境能够提高患者的主动性,具有一定的优势。为此本课题开发的上肢康复机器人有着非常重要的研究意义和应用前景。针对上肢偏瘫患者中自主能力较弱者不能实现自主运动的情况,本文在实现了被动式训练模式的上肢康复机器人基础上对其进行拓展,开发了主动式的训练模式系统。主动训练模式主要采用交流伺服电机作为动力源,通过电机的输出力矩带动机器人手柄进行运动从而引导患者完成康复训练。对伺服电机的数学模型进行分析,通过MATLAB平台对伺服系统进行模型建立,采用id=O的矢量控制策略,整定了PID参数,并对整个伺服系统进行仿真验证其控制方案正确性。整个系统的控制核心由数字处理器DSP2407A完成。DSP2407A具有专用电机控制模块,利用该模块实现伺服电机的SVPWM矢量控制。ADC模块完成电流和电压采样功能,QEP模块完成对编码器的信号采集,系统通信由SCI模块实现,通过I/O口输出PWM波控制磁粉离合器输出可控力矩。系统中还设计了安全保护电路,有效保证系统正常运行。本文开发了一款擦黑板的虚拟现实游戏帮助患者进行训练康复,在Visual C++平台下结合OpenGL图形技术建立虚拟环境,在该环境下患者可以进行漫游和擦黑板两种训练模式。环境中采用3DMAX建立模型导入,采用纹理贴图实现逼真的虚拟场景,并且加入了碰撞检测和编写擦黑板算法。主动模式的开发丰富了康复模式,对患者实现循序渐进的康复具有一定指导意义,也为下一步的康复评价和康复环境的开发等工作奠定了基础。
[Abstract]:The upper limb movement of human body is accomplished by the coordinated action of the nervous system and the motor system, and is one of the indispensable conditions for the human being to live independently. The problems of the motor system or nervous system can lead to the human body limb disorder. Stroke is a disease caused by nerve injury in the human body, which usually occurs in middle and old people. With the development of medical technology, The mortality rate of stroke patients has been greatly reduced, but most of them are accompanied by hemiplegic symptoms after treatment. Modern studies show that patients with hemiplegia suffer from neurological impairment. Scientific rehabilitation training can make the central nervous system complete the structural reorganization and functional compensation, and restore the motor function to a certain extent. At present, the traditional rehabilitation mode has some shortcomings, such as single training mode, low efficiency and so on. In contrast, rehabilitation robots, which combine modern rehabilitation medicine, computer virtual reality technology and engineering technology, can not only provide a variety of training modes to help patients with rehabilitation, but also improve patients' initiative by adopting virtual reality environment. The robot developed in this paper has a very important research significance and application prospect. In view of the situation that the patients with upper extremity hemiplegia can not realize autonomous movement, the weak autonomous ability can not be realized in the upper limb hemiplegia patients. In this paper, the passive training mode of the upper limb rehabilitation robot is expanded, and the active training mode system is developed. The active training mode mainly uses AC servo motor as the power source. The motor output torque drives the robot handle to carry on the movement to guide the patient to complete the rehabilitation training. The mathematical model of the servo motor is analyzed, and the servo system model is established through the MATLAB platform. The vector control strategy of id=O is adopted. The PID parameters are adjusted, and the whole servo system is simulated to verify the correctness of the control scheme. The control core of the whole system is completed by the digital processor DSP2407A. DSP2407A has a special motor control module. The SVPWM vector control. ADC module of servo motor is used to complete the sampling function of current and voltage. The signal acquisition of encoder is accomplished by QEP module. The system communication is realized by SCI module. I / O port output PWM wave control magnetic powder clutch output controllable torque. The system also designed a safety protection circuit to effectively ensure the normal operation of the system. This paper developed a blackboard wiping virtual reality game to help patients with training and rehabilitation. The virtual environment is established under the Visual C platform combined with the OpenGL graphics technology. In this environment, patients can carry on two training modes: roaming and blackboard cleaning. In the environment, 3D Max is used to establish model import and texture mapping is used to realize realistic virtual scene. In addition, collision detection and blackboard erasure algorithm are added. The development of active mode enriches the rehabilitation mode, which has certain guiding significance for patients to realize gradual rehabilitation. It also lays a foundation for the evaluation of rehabilitation and the development of rehabilitation environment.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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