一种新型外骨骼手指康复机器人结构设计及特性评价

发布时间：2018-04-18 12:51

本文选题：外骨骼手指康复机器人 + 可穿戴主从控制　；参考：《天津理工大学》2017年硕士论文

【摘要】：中风被医学界公认为是威胁人类健康的三大疾病之一,而中风后导致偏瘫的概率达百分之五十以上,此类患者的康复需求引起了社会各界的极大关注。中风患者因失去了其运动功能丧失了生活自理的能力,严重者身体完全瘫痪。手作为人体在日常生活中使用最频繁的器官,因此手部的康复训练成为中风患者最急需康复的内容。本课题调研了国内外刚性和软体外骨骼手指康复机器人系统,结合了两者的优点重新设计了一套刚性外骨骼式机器人系统,用于辅助偏瘫患者在康复初期进行手指的屈伸运动训练。设计之前,对人手的结构组织进行了相关研究,了解了手部组织及骨骼构成,并依据D-H参数法对人手指结构进行分析,最后得到其空间运动模型,为机器人结构设计提供理论基础。本系统采用电动驱动的方式,采用步进电机作为动力源,可以实现比较精确的控制,可以使电机停止在某一个任意的位置,也就是使得患者的手指可以随时停止在某一设定的位置。在控制系统设计过程中,应用了程序控制和主从控制两种控制方式。程序控制,主要是针对患病比较严重的中风和偏瘫患者来说的,该患者穿戴好外骨骼手指康复机器人,按照设定好的程序可实现机器人按照既定的运动方式对患者的手指进行特定的康复训练。同时,贴附在患者手指上的弯曲传感器实时监测患者手指的弯曲角度信息,以便于观察患者的康复训练情况。主从控制方式,主要是针对患病比较轻的患者来说的。主从式控制方式就是让患者自身的正常一侧的手指去控制患病一侧的手指,实现自主控制。本文还针对设计好的外骨骼手指康复机器人进行了运动学仿真,以便为该机器人提供有力的理论支撑。首先将设计好的外骨骼手指康复机器人模型导入到ADAMS仿真软件中,并将各个连接关节重新建立约束条件,设置好驱动函数后,就得到了机器人上的标记点的运动信息(弯曲角度、角速度和角加速度)。从仿真结果可以看出,该外骨骼手指康复机器人具有很好的柔顺性,在运动过程中可以很顺畅地完成设定好的弯曲/伸展动作。在最后,对设计出来的外骨骼手指康复机器人进行了相应的特性评价。该特性评价实验主要应用了前面提到的主从控制的方式对机器人进行弯曲角度的评价,并得到了主从端的实时性,以此来判断该外骨骼手指康复机器人的实时性。实验表明,该机器人具有很好的实时性,从端的动作基本和主端动作完全一致,且具有很好的跟随性。
[Abstract]:Stroke is the medical profession recognized as one of the three major diseases which threaten human health, and after stroke hemiplegia due to the probability of more than fifty percent, the rehabilitation needs of these patients caused great concern in the community. Stroke patients lost their motor function loss of self-care ability, serious physical hand is completely paralyzed. The most frequently used in the daily life of the organ, so the hand rehabilitation training has become the most urgent need of rehabilitation in stroke patients. The contents of this topic research on the domestic and foreign software and rigid exoskeleton finger rehabilitation robot system, combines the advantages of the new design of a rigid exoskeleton robot system for assisting hemiplegic patients in the early rehabilitation of finger flexion and extension training. Before the design, the structure of the organization staff carried out relevant research, understanding of hand tissue and bones, and On the basis of the structure of human fingers was analyzed by D-H parameter method, and finally get the space movement model, provide a theoretical basis for the structural design of the robot. This system uses electric drive and stepper motor is used as power source, can achieve more accurate control, can make the electric machine stopped at a certain arbitrary location, which is made the patient's finger can stop at a set position. In the control system design process, using program control and master-slave control two control mode. Program control, mainly for the prevalence of severe in wind and hemiplegic patients, the patients wear exoskeleton finger rehabilitation robot, according to the set the program can realize the robot rehabilitation training specific to the patient's finger movement in accordance with established. At the same time, attached to the patient's finger on the bending sensor for real-time monitoring of patients The bending angle of the fingers of the information, to facilitate the observation of patients with rehabilitation training. The master-slave control mode, mainly for the prevalence of relatively light patients. The master-slave control way is to let the normal side of the patient's own fingers to control the sick side of fingers, to achieve self master control. Aiming at the exoskeleton finger rehabilitation robot the design of kinematics simulation, in order to provide strong theoretical support for the robot. First the exoskeleton finger rehabilitation robot model into ADAMS simulation software, and each connection joint re establishing constraints, set the function driver, we get the information on the robot marker (bending angle, angular velocity and angular acceleration). The simulation results show that the exoskeleton finger rehabilitation robot has excellent compliance, in the process of movement can be To smoothly finish setting the bending / stretching movements. In the end, the characteristics of the corresponding evaluation on exoskeleton finger rehabilitation robot designed. Experimental evaluation of the characteristics of the main application of the evaluation mentioned in the master-slave control way of the bending angle of the robot, and get real-time master-slave end of this. To determine the real-time performance of the exoskeleton finger rehabilitation robot. Experimental results show that the robot has good real-time performance, from the end of the basic movements and main end action is completely consistent, and has the following good.

【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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