下肢康复机器人足底力分布检测系统的研究

发布时间：2018-03-25 14:30

本文选题：康复机器人　切入点：足底压力分布　出处：《合肥工业大学》2017年硕士论文

【摘要】：足底压力是患者进行康复训练时非常重要的生物力学参数。目前使用下肢康复机器人训练时,缺少足底力信息反馈,难以合理调节运动参数,影响患者康复训练的科学性和安全性。因此,本论文针对脚踏式下肢康复训练机器人,提出了一种基于弹性梁应变检测足底压力分布的检测系统,主要工作如下:设计了足底力分布检测装置,通过分析人体足底压力分布信息,选取足部四个主要受力点作为测量点,通过不断地优化设计确定检测装置结构,尤其弹性梁的尺寸、形状、位置。利用有限元仿真分析确定力与弹性梁应变的关系,建立了计算足底压力的数学模型,同时对主要影响其计算精度的因素-梁1与梁2位置进行全局实验;仿真与计算结果的对比,表明该方法及装置可实现对足底信息中重要的足底力大小的精确检测。同时通过实验测试其检测精度,为此设计了信号采集系统,并对其性能进行测试,测量误差在?0.4uv,满足实验要求;通过实验分析了检测系统的静态性能,完成了对检测装置的标定。实验结果表明,检测误差为?0.1%-?20.3%,可识别足底压力分布。项目研究工作可为实时监测患者康复训练时足底压力的大小和分布情况,以及评定康复效果,识别足内外翻,检测痉挛等提供基础。
[Abstract]:Plantar pressure is a very important biomechanical parameter in rehabilitation training for patients. Therefore, this paper presents a testing system for foot pressure distribution based on elastic beam strain, aiming at pedal lower limb rehabilitation training robot, which affects the scientific and security of patients' rehabilitation training. The main work is as follows: the testing device of foot force distribution is designed. By analyzing the information of foot pressure distribution, four main force points of foot are selected as measuring points, and the structure of the detecting device is determined by continuous optimization design. In particular, the size, shape and position of the elastic beam are determined by the finite element simulation analysis, and the mathematical model for calculating the plantar pressure is established by using the finite element simulation analysis to determine the relationship between the force and the strain of the elastic beam. At the same time, the global experiment is carried out on the position of beam 1 and beam 2, which mainly affects the accuracy of calculation, and the comparison between simulation and calculation results is made. It shows that this method and device can accurately detect the important plantar force in the plantar information. At the same time, the precision of the test is tested by experiment. A signal acquisition system is designed and its performance is tested. The static performance of the testing system is analyzed and the calibration of the testing device is completed. The experimental results show that the detection error is? 0.1? 20.3It can recognize the distribution of plantar pressure. The research work can provide the basis for real-time monitoring the magnitude and distribution of plantar pressure during rehabilitation training, evaluating the effect of rehabilitation, recognizing the pronation of the foot and detecting spasm, etc.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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