基于人体特性的上肢康复机器人优化设计

发布时间：2018-05-11 02:39

本文选题：上肢 + 运动捕捉　；参考：《宁波大学》2017年硕士论文

【摘要】：据2014年人口统计,中国60岁及以上人口2.12亿,随着中国人口老龄化的到来,每年有约200万人因脑卒中去世。脑卒中给患者家庭和社会带来巨大损失,康复机器人的作用就是帮助脑卒中患者康复治疗;。在康复机器人研究领域,多数研究集中在机器人系统本身,缺乏对人体特性和人机交互过程的研究,在文献调研和上一代机器人的基础上,本文开展了人体上肢运动、机器人的设计和人机交互特性的研究工作。其主要研究内容如下:1)依据运动捕捉技术,应用搭建的运动捕捉系统完成人体上肢运动数据的采集,获取人体上肢日常生活动作的相关数据。经过数据处理和分析,研究人体日常活动的上肢关节运动规律。2)根据人体生物力学和上肢运动的研究,以及上肢刚体假设理论和解剖学理论,完成上肢的模型设计,然后运对人体上肢模型进行运动学和动力学计算,为上肢康复机器人的设计和虚拟人机交互仿真的研究提供理论依据。3)针对上一代康复机器人存在的问题,提出合理的解决方案。依据人体参数和运动规律,计算机器人的杆长、行程、运动范围等,最终完成新一代康复机器人的设计,最后对其做运动学、动力学计算。4)应用计算机辅助人机工程技术,进行人机交互虚拟仿真,模拟人体上肢康复运动的动作,研究虚拟人体与上肢康复机器样机交互过程中的人体可触空间、舒适性、受力等。本文的创新点:通过运动捕捉技术,进行人体上肢日常生活运动规律和人体上肢生物力学的基础研究,应用计算机辅助人机工程学进行人体与康复机器人的交互仿真。本文的研究意义:本文从人体运动特性和人机交互角度进行上肢康复机器人的研究,取得了部分基础研究成果,为机器人的评价和优化提供理论依据。
[Abstract]:China's population of 60 years old and over is 212 million, and about 2 million people die from stroke each year as the country's population ages, according to the 2014 census. Stroke brings great losses to the family and society. The role of rehabilitation robot is to help stroke patients with rehabilitation therapy. In the field of rehabilitation robot research, most of the research focus on the robot system itself, lack of research on the human body characteristics and human-computer interaction process, on the basis of literature research and the previous generation of robots, this paper carried out the human upper limb movement. The design of robot and the research of human-computer interaction. The main research contents are as follows: (1) according to the motion capture technology, the motion capture system is used to complete the data collection of human upper limb motion, and to obtain the relevant data of human upper limb daily life action. Through data processing and analysis, the study of the upper limb joint motion law of human daily activities. (2) according to the study of human biomechanics and upper limb movement, as well as the theory of upper limb rigid body hypothesis and anatomy, the model design of upper limb is completed. Then the kinematics and dynamics of the human upper limb model are calculated to provide the theoretical basis for the design of the upper limb rehabilitation robot and the research of virtual man-machine interaction simulation. 3) aiming at the problems existing in the previous generation rehabilitation robot. Put forward a reasonable solution. According to the parameters of human body and the law of motion, the length of rod, stroke and range of motion of the robot are calculated. Finally, the design of the new generation rehabilitation robot is completed. Finally, the kinematics and dynamics calculation. 4) the computer aided ergonomics technology is used. The virtual simulation of human-computer interaction is carried out to simulate the movement of human upper limb rehabilitation, and the touchable space, comfort and force of the human body in the process of interaction between the virtual human body and the upper limb rehabilitation machine prototype are studied. The innovation of this paper is as follows: through the motion capture technology, the basic research on the daily life movement law of human upper limb and biomechanics of human upper limb is carried out, and the interactive simulation between human body and rehabilitation robot is carried out by computer aided ergonomics. The purpose of this paper is to study the upper limb rehabilitation robot from the point of view of human motion characteristics and human-computer interaction. Some basic research results have been obtained, which provide theoretical basis for the evaluation and optimization of robot.
【学位授予单位】：宁波大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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