站起运动康复机器人系统及控制策略研究

发布时间：2018-06-29 03:22

本文选题：站起康复训练 + 三肢段生物力学模型　；参考：《吉林大学》2017年硕士论文

【摘要】：随着人口老龄化现象的越发严重,患有偏瘫中风等疾病人数越来越多,此类病的后遗症致使患者下肢运动功能严重受限。与此同时,进入全民汽车时代的中国,每年因交通事故所引发的下肢运动功能障碍的人数正逐年递增。现如今,人们对下肢康复训练机器人需求度越来越高,而站起运动在整个下肢康复训练过程中起到关键性作用,它是完成其他下肢运动和活动的前提。目前,站起康复训练机器人系统的研究已成为康复研究的热点和重要课题之一。结合现有下肢康复训练机器人研究状况,本文首先对人体主要关节髋、膝、踝关节进行详细介绍,并对人体运动系统的骨骼肌和支配神经详细解释说明,为站起康复训练机器人系统的研究提供必要的康复医学理论基础。然后结合人体站起运动周期特点,将人体站起运动周期进行进一步分析处理,提出一种全新分段式建立站起运动生物力学模型的方法,并确定出每一阶段生物力学模型与之相对应的动力学方程和质心位置表达式。接下来,对比分析已有控制方法的优缺点,确定出本文所提出的“有限状态机(FSM)与模糊PID相结合”的控制方法。之后,通过使用Matlab/Simulink软件进行系统仿真分析,并与单独的PID控制方法进行仿真结果对比。最后制定人体站起运动训练康复策略,即被动训练和主动训练相结合的康复策略。本文所研究的站起运动康复训练机器人系统及控制策略,虽然已经取得了一定的研究成果,但相对更深入的研究仍处于初级阶段,故还应该进行大量的分析研究与实验验证等工作,才能将该控制系统成功转化为实体康复训练产品为临床康复治疗所应用。
[Abstract]:With the aging of the population, more and more people suffer from hemiplegia, stroke and other diseases. At the same time, the number of motor dysfunction caused by traffic accidents in China is increasing year by year. Nowadays, people need more and more lower limb rehabilitation training robots, and stand up exercise plays a key role in the whole lower limb rehabilitation training process, which is the premise to complete other lower limb movements and activities. At present, the research of standing-up rehabilitation training robot system has become one of the hot and important topics in rehabilitation research. In this paper, the main joints of the human body, hip, knee and ankle, are introduced in detail, and the skeletal muscles and innervation of human motor system are explained in detail. It provides the necessary theoretical basis of rehabilitation medicine for the research of standing up rehabilitation training robot system. Then according to the characteristics of human standing motion cycle, the paper further analyzes and deals with the human standing motion cycle, and puts forward a new method of establishing the biomechanical model of standing up motion in a new segmental way. The kinetic equation and the expression of the center of mass corresponding to the biomechanical model in each stage are determined. Then, the advantages and disadvantages of the existing control methods are compared and analyzed, and the proposed control method of "finite state machine (FSM) combined with fuzzy pid" is determined. After that, the system is simulated and analyzed by Matlab / Simulink software, and the simulation results are compared with the pid control method. Finally, the rehabilitation strategy of human standing exercise training, that is, the combination of passive training and active training, is formulated. Although some achievements have been made in the research of the robot system and control strategy of standing up and rehabilitation training, the more in-depth research is still in the primary stage. Therefore, a lot of work should be done, such as analysis, research and experimental verification, so that the control system can be successfully transformed into a physical rehabilitation training product for clinical rehabilitation treatment.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R496;TP242

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