肢体康复训练器主从控制系统研究
发布时间：2018-08-04 09:38
【摘要】：康复训练器是肢体功能障碍患者进行肢体康复训练的重要辅助工具。目前我国市面上大部分康复训练器还是纯机械式的装置,智能化程度不足。如何对康复训练器进行电控化改造,使康复训练器向信息化、智能化发展,成为健康产业的研究热点。论文通过对康复训练进行需求分析,针对山西澳瑞特健康产业股份有限公司的某系列气动式康复训练器,设计一套信息化主从控制系统。系统包括嵌入式硬件控制系统、训练器的人机交互系统以及医生端远程监护管理系统三部分。(1)嵌入式控制系统。系统以stm32f103作为主控,通过对高频开关电磁阀的控制和气压传感器的检测,实现气缸气压力的闭环控制;通过位移传感器对肢体活动度进行实时检测;通过穿戴心率带对训练者进行实时运动心率检测。设计串口数据通信模块,方便与人机交互系统通信,设计Bootloader模块,方便用户进行在线升级程序。(2)人机交互系统。系统以搭载Android操作系统的平板作为平台,编制人机交互系统。通过与嵌入式控制系统进行康复运动状态数据交互,在界面上实时显示运动状态参数,显示康复训练运动幅度曲线。设计无线通信模块,通过与远程监护管理系统进行通信。(3)监护管理系统。系统基于MFC框架进行开发,基于HBase数据库编制的患者信息管理模块,对患者康复信息管理;基于网络通信技术、双缓冲绘图技术与OSG技术编制实时运动监测模块,通过与人机交互系统的数据交互,一方面进行处方下达,另一方面对康复动作状态进行二维曲线监测和三维视景监测。经过实机测试,康复训练器控制系统实现了自主训练、处方训练及在线测试训练的控制需求,系统提高了康复训练器的智能化与信息化,已经得到市场的初步认可,具有一定的社会和经济效益。
[Abstract]:Rehabilitation training device is an important auxiliary tool for limb rehabilitation training in patients with limb dysfunction. At present, most rehabilitation training devices in our country are pure mechanical devices, and the degree of intelligence is not enough. How to carry on the electric control transformation to the rehabilitation training device, make the rehabilitation training device to the information, the intelligence development, becomes the health industry research hot spot. Based on the demand analysis of rehabilitation training, a set of information-based master-slave control system is designed for a series of pneumatic rehabilitation trainers of Shanxi Aurit Health Industry Co., Ltd. The system includes three parts: the embedded hardware control system, the man-machine interaction system of the trainer and the remote monitoring management system of the doctor. (1) the embedded control system. The system takes stm32f103 as the main control, realizes the closed loop control of the cylinder gas pressure by controlling the high frequency switch solenoid valve and the air pressure sensor, and carries on the real-time detection of the limb motion through the displacement sensor. Real-time exercise heart rate was measured by wearing heart rate band. The serial port data communication module is designed to communicate with man-machine interactive system conveniently, and the Bootloader module is designed to facilitate the user to carry on the on-line upgrade program. (2) Human-machine interaction system. The system takes the flat plate with Android operating system as the platform, and compiles the man-machine interaction system. By interacting with the data of rehabilitation movement state of embedded control system, the parameters of motion state are displayed in real time on the interface, and the amplitude curve of rehabilitation training is displayed. Design wireless communication module, through communication with remote monitoring management system. (3) Monitoring management system. The system is developed on the basis of MFC framework, patient information management module based on HBase database, real-time motion monitoring module based on network communication technology, double buffer drawing technology and OSG technology. Through the data interaction with the human-computer interaction system, on the one hand, the prescription is given; on the other hand, the state of rehabilitation action is monitored by two-dimensional curve and three-dimensional visual monitoring. Through the actual computer test, the control system of rehabilitation training device has realized the control demand of independent training, prescription training and online test training, and the system has improved the intelligence and information of the rehabilitation training device, which has been preliminarily recognized by the market. It has certain social and economic benefits.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
本文编号：2163434
[Abstract]:Rehabilitation training device is an important auxiliary tool for limb rehabilitation training in patients with limb dysfunction. At present, most rehabilitation training devices in our country are pure mechanical devices, and the degree of intelligence is not enough. How to carry on the electric control transformation to the rehabilitation training device, make the rehabilitation training device to the information, the intelligence development, becomes the health industry research hot spot. Based on the demand analysis of rehabilitation training, a set of information-based master-slave control system is designed for a series of pneumatic rehabilitation trainers of Shanxi Aurit Health Industry Co., Ltd. The system includes three parts: the embedded hardware control system, the man-machine interaction system of the trainer and the remote monitoring management system of the doctor. (1) the embedded control system. The system takes stm32f103 as the main control, realizes the closed loop control of the cylinder gas pressure by controlling the high frequency switch solenoid valve and the air pressure sensor, and carries on the real-time detection of the limb motion through the displacement sensor. Real-time exercise heart rate was measured by wearing heart rate band. The serial port data communication module is designed to communicate with man-machine interactive system conveniently, and the Bootloader module is designed to facilitate the user to carry on the on-line upgrade program. (2) Human-machine interaction system. The system takes the flat plate with Android operating system as the platform, and compiles the man-machine interaction system. By interacting with the data of rehabilitation movement state of embedded control system, the parameters of motion state are displayed in real time on the interface, and the amplitude curve of rehabilitation training is displayed. Design wireless communication module, through communication with remote monitoring management system. (3) Monitoring management system. The system is developed on the basis of MFC framework, patient information management module based on HBase database, real-time motion monitoring module based on network communication technology, double buffer drawing technology and OSG technology. Through the data interaction with the human-computer interaction system, on the one hand, the prescription is given; on the other hand, the state of rehabilitation action is monitored by two-dimensional curve and three-dimensional visual monitoring. Through the actual computer test, the control system of rehabilitation training device has realized the control demand of independent training, prescription training and online test training, and the system has improved the intelligence and information of the rehabilitation training device, which has been preliminarily recognized by the market. It has certain social and economic benefits.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273
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