坐姿肢体协同训练康复机构的设计与分析

发布时间：2018-11-20 15:12

【摘要】：因人口老龄化、脑卒中以及伤残等导致的肢体运动功能障碍患者逐年增多,而相应的医疗康复人员及设备却无法满足康复需求。为减轻护理人员的工作强度、提高患者接受康复治疗机会、量化康复训练的指标,康复机器人应运而生。本文在分析国内外肢体康复机器人研究现状的基础之上,依据康复运动理论,结合人体生理结构特征、行走时肢体运动规律,提出一种基于坐姿的单自由度、复合连杆式肢体协同训练康复机构,具体工作如下:首先,分析人体尺寸及关节活动度限定坐姿状态下的运动区间,再通过实验探求行走时肢体主要关节的运动规律及轨迹,为机构方案的设计提供理论依据,最终提出一种曲柄滑块和RRR级二级杆组组合形成的单自由度、复合连杆式协同训练康复机构。其次,应用D-H法建立康复训练机构参数坐标模型,对其进行运动学正分析,得出影响轨迹的主要参数,并应用ADAMS软件分析尺寸参数对轨迹的具体影响,通过单因素分析及正交试验优化出一组基本尺寸参数。然后,对人机模型进行深入研究,分析不同训练参数下所对应的关节运动规律,为患者进行有效的量化康复训练提供参考;提出一种实现匀速训练的PI控制方案;分析在训练期间各杆件的受力及形变,为后期结构设计提供理论依据。最后,依据上述分析论证所得出的连杆尺寸参数,研制出单侧康复机构的物理样机,并进行训练轨迹、关节角度和协调运动实验。实验结果表明:该康复机构设计合理,能够实现坐姿状态下的肢体协同康复训练,并可满足个性化康复需求。
[Abstract]:The number of patients with motor dysfunction caused by aging population, stroke and disability is increasing year by year, but the corresponding medical rehabilitation personnel and equipment can not meet the rehabilitation needs. In order to lighten the working intensity of nursing staff, improve patients' chances of receiving rehabilitation treatment, and quantify the indexes of rehabilitation training, rehabilitation robot emerges as the times require. On the basis of analyzing the present research situation of limb rehabilitation robot at home and abroad, according to the theory of rehabilitation movement and the characteristics of human physiological structure, this paper proposes a single degree of freedom based on sitting posture. The concrete work of the compound connecting rod limb cooperative training rehabilitation organization is as follows: firstly, the movement interval of human body size and joint motion is analyzed, and then the movement law and track of the main joints of the limbs are explored through experiments. This paper provides a theoretical basis for the design of the mechanism scheme, and finally proposes a single degree of freedom (DOF), composite linkage type cooperative training and rehabilitation mechanism formed by the combination of the crank slider and the RRR grade two-stage bar group. Secondly, the D-H method is used to establish the parameter coordinate model of rehabilitation training institutions, and the kinematics positive analysis is carried out, and the main parameters affecting the trajectory are obtained, and the specific influence of the dimension parameters on the trajectory is analyzed by using ADAMS software. A group of basic dimension parameters were optimized by single factor analysis and orthogonal test. Then, the man-machine model is deeply studied, and the corresponding joint motion law under different training parameters is analyzed, which provides a reference for patients to carry out effective quantitative rehabilitation training, and puts forward a PI control scheme to achieve uniform speed training. The stress and deformation of the members during the training period are analyzed to provide the theoretical basis for the later structural design. Finally, according to the dimension parameters of connecting rod obtained from the above analysis and demonstration, the physical prototype of unilateral rehabilitation mechanism is developed, and the training track, joint angle and coordinated motion experiment are carried out. The experimental results show that the design of the rehabilitation mechanism is reasonable and can realize the limb cooperative rehabilitation training under sitting posture and can meet the individual rehabilitation needs.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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