三自由度上肢康复机器人训练系统的研究

发布时间：2018-07-16 16:00

【摘要】：目前,随着我国人口老龄化趋势加剧,脑卒中患者的数量不断攀升。脑卒中是由急性脑血管疾病引起的持续性的大脑精神功能缺损。研究表明,神经功能受损后,经过科学的康复训练可使中枢神经系统在结构和功能上具有代偿和重组能力。康复机器人结合了机器人技术和康复医学,可代替医生完成简单、重复的康复训练动作。将虚拟现实技术结合到康复机器人中,可提高患者在康复过程的积极性,积极主动地参与康复训练可以提高患者的治愈率。因此本课题开发的基于虚拟现实技术的三自由度上肢康复机器人具有非常重要的应用前景和研究意义。本文研究了运动康复理论基础,针对康复治疗的阶段不同,提出了主动式和被动式两种康复运动模式。规划了康复机器人在被动模式下的运动路径,设计了直线和圆弧轨迹。利用ADAMS建立上肢康复机器人的虚拟样机,对其进行逆运动学求解,通过分析仿真得到的角度曲线,证明规划的运动轨迹能够满足被动模式的康复训练需求。设计了康复机器人的控制系统,采用"PC+运动控制卡"开放式控制结构。对位置伺服控制系统进行了 PID控制器设计,基于ADAMS和MATLAB联合仿真,验证控制器设计的正确性。完成了控制系统的硬件设计和电气设计,设计了被动运动模式中规划轨迹的控制程序,最终实现康复机器人末端按规划的路径运动。本文将虚拟现实技术与康复机器人结合,针对被动和主动模式的不同,在VC++6.0平台上设计了多款康复训练环境。被动式康复环境主要是对关节活动度进行康复训练;主动式康复环境主要是锻炼患肢的运动准确性、稳定性,该环境是结合实际生活场景开发的,有助于将锻炼得到的能力用于实际生活中。文中对搭建的康复机器人样机进行调试,实验证明康复机器人末端能够实现规划的运动轨迹,同时完成了虚拟环境与康复机器人的通讯。文中所做的工作,为后续康复机器人远程控制和康复评价奠定了基础。
[Abstract]:At present, the number of stroke patients is increasing with the increasing trend of population aging in China. Stroke is a persistent mental impairment of the brain caused by acute cerebrovascular disease. The research shows that after the nerve function is damaged, the central nervous system can be compensated and reorganized in structure and function after scientific rehabilitation training. Rehabilitation robots combine robotics with rehabilitation medicine and can replace doctors in simple and repetitive rehabilitation exercises. Combining virtual reality technology with rehabilitation robot can improve the enthusiasm of patients in the rehabilitation process and actively participate in rehabilitation training can improve the cure rate of patients. Therefore, the virtual reality based three degree of freedom upper limb rehabilitation robot developed in this paper has a very important application prospect and research significance. This paper studies the theoretical basis of motor rehabilitation and puts forward two kinds of active and passive rehabilitation sports models according to the different stages of rehabilitation treatment. The path of rehabilitation robot in passive mode is planned and the trajectory of straight line and arc is designed. The virtual prototype of the upper limb rehabilitation robot is built by Adams, and the inverse kinematics is solved. By analyzing the angle curve obtained by simulation, it is proved that the planned motion track can meet the needs of passive rehabilitation training. The control system of rehabilitation robot is designed, and the open control structure of PC motion control card is adopted. The pid controller is designed for the position servo control system. The simulation based on Adams and MATLAB verifies the correctness of the controller design. The hardware and electrical design of the control system are completed, and the control program of the trajectory planning in the passive motion mode is designed. Finally, the path motion of the end of the rehabilitation robot is realized according to the planned path. In this paper, virtual reality technology is combined with rehabilitation robot, aiming at the difference between passive and active modes, several rehabilitation training environments are designed on the platform of VC 6.0. The passive rehabilitation environment mainly carries on the rehabilitation training to the joint movement degree, the active rehabilitation environment mainly exercises the movement accuracy and the stability of the affected limb, the environment is developed according to the actual life scene. It helps to apply the ability gained by exercise in real life. In this paper, the prototype of the rehabilitation robot is debugged. The experiment shows that the terminal of the rehabilitation robot can realize the planned motion trajectory, and the communication between the virtual environment and the rehabilitation robot is completed at the same time. The work in this paper lays a foundation for remote control and rehabilitation evaluation of rehabilitation robot.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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