全方向康复步行训练机器人的运动意图识别方法研究

发布时间：2018-05-03 15:42

本文选题：康复步行训练机器人 + 方向意图识别　；参考：《沈阳工业大学》2017年硕士论文

【摘要】：当今社会由于人口老龄化、交通事故、运动损伤或者脑疾病等原因导致下肢运动功能障碍患者显著增加,造成我国出现护理资源严重短缺的情况。由于医疗条件不足,患者不能得到有效治疗,导致其生活质量急剧下降,同时给患者的家庭和社会带来了沉重的负担。在此背景下,研究能够有效帮助患者恢复步行能力及提供步行支持的康复步行训练机器人是十分必要的。在康复治疗的后期阶段,主要有主动训练和被动训练两种方式。相较于被动训练而言,主动训练方式参与性更强,容易引起患者的训练兴趣,更能提高患者的运动感知能力和肌肉控制力。为了提高康复机器人的可操作性,激发患者参与主动训练的兴趣,文章提出了一种通过采集患者的前臂对康复机器人的压力数据识别其运动意图的方法。文章主要内容如下:建立了康复机器人的运动学模型。通过实验研究了在运动状态下前臂压力的合力与方向意图之间的对应关系。通过实验采集了实验对象在运动过程中的前臂压力数据,并利用该数据建立了表达前臂压力与方向意图之间关系的模糊规则。基于模糊拉格朗日插值推理法由某一时刻的前臂压力数据推理得到该时刻患者的方向意图。最后在仿真实验中将运动方向与识别方向进行对比,验证了该方法的可行性。提出了速度意图与前臂压力的合力的比例关系。研究了实验对象推动康复机器人向不同方向运动的过程中手腕、肘部的施力特征。考虑到个体差异与方向意图等因素的影响,提出了一种比例变化的速度意图识别方法,并在仿真实验中将运动速度与识别速度进行对比,验证了方法的可行性。
[Abstract]:Nowadays, due to the aging of population, traffic accidents, sports injuries or brain diseases, the number of patients with lower extremity motor dysfunction has increased significantly, resulting in a serious shortage of nursing resources in China. Due to insufficient medical conditions, patients can not get effective treatment, leading to a sharp decline in their quality of life, and at the same time bring a heavy burden to the patients' families and society. In this context, it is necessary to study a rehabilitation walking training robot which can effectively help patients recover their walking ability and provide walking support. In the later stage of rehabilitation, there are two main ways of active training and passive training. Compared with passive training, active training is more participatory, which can easily arouse patients' training interest and improve patients' motor perception and muscle control. In order to improve the maneuverability of rehabilitation robot and stimulate the interest of patients to participate in active training, this paper presents a method for recognizing the intention of rehabilitation robot by collecting the pressure data of the forearm of the patient. The main contents of this paper are as follows: the kinematics model of rehabilitation robot is established. The relationship between the resultant force of the forearm pressure and the directional intention is studied experimentally. The data of forearm pressure in moving process were collected and the fuzzy rules were established to express the relationship between forearm pressure and directional intention. Based on the fuzzy Lagrangian interpolation method, the direction intention of the patient at a certain time is deduced from the pressure-data of the forearm at a certain time. Finally, the feasibility of the method is verified by comparing the motion direction with the recognition direction in the simulation experiment. The proportional relationship between velocity intention and forearm pressure is proposed. The force characteristics of wrist and elbow in the process of moving the rehabilitation robot in different directions were studied. Considering the influence of individual difference and direction intention, a speed intention recognition method with proportional variation is proposed, and the feasibility of the method is verified by comparing the velocity of motion with the speed of recognition in the simulation experiment.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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