多体位下肢康复训练系统关键技术研究

发布时间：2019-04-24 00:35

【摘要】：近年来,有下肢功能性障碍的患者逐渐增加,现代医学采用下肢康复训练系统提高患者生存能力与生活水平,加快患者的康复进程。下肢康复训练系统的研究过程非常复杂,它涉及到医学、控制、机械等多种学科领域,其中人体步态运动的分析与规划是多体位下肢康复训练系统设计中的关键技术之一,它是康复训练系统设计的基本前提,对下肢平衡功能的训练、康复器控制系统的选择等都有着重要的意义。本文首先选用D-H法进行人体下肢的正运动分析与逆运动分析,并基于刚体性建模方法中的牛顿欧拉法建立人体下肢步态运动中支撑期的模型;对常用的几种仿真软件进行分析比较后选择Matlab/Simmechanics建立人体下肢运动的模型并加以仿真,通过实验仿真得出的下肢运动力矩曲线来分析人体下肢运动的规律。其次利用三维动态捕捉技术采集人体下肢运动过程中髋关节与膝关节的运动轨迹坐标,对运动轨迹坐标进行Matlab仿真再现,得出髋、膝关节位置坐标曲线与力矩变化曲线,将所建模型的仿真结果与实验测试结果进行对比分析,结果表明理论部分所建模型与实际情况相吻合。最后参考实验测得的健康成年男性的步态特征,选取步速、步长与关节角位移变化轨迹作为步态规划的有效参数,分析并规划起步、中步与止步这三个阶段的运动,将每个阶段的步态规划完整的顺连在一起,完成一个周期的步态规划。本文旨在为多体位下肢康复训练系统的研究提供参考依据。
[Abstract]:In recent years, the number of patients with functional disorders of the lower limbs increased gradually. Modern medicine adopted the lower limb rehabilitation training system to improve the survival ability and living standard of the patients and accelerate the rehabilitation process of the patients. The research process of lower limb rehabilitation training system is very complicated. It involves many disciplines such as medicine, control, machinery and so on. The analysis and planning of human gait movement is one of the key techniques in the design of rehabilitation training system for lower limbs in multi-position. It is the basic premise of the design of rehabilitation training system. It is of great significance to the training of lower limb balance function and the selection of rehabilitation device control system. In this paper, first, the DH method is used to analyze the forward motion and the inverse motion of the human lower limbs, and based on the Newton-Euler method in the rigid modeling method, the model of the supporting period in the gait movement of the human lower limbs is established. After the analysis and comparison of several commonly used simulation software, Matlab/Simmechanics is selected to set up the model of human lower limb movement and simulate it. The movement law of human lower limb is analyzed by the dynamic moment curve of lower limb movement obtained by experimental simulation. Secondly, three-dimensional dynamic capture technology is used to collect the motion trajectory coordinates of hip joint and knee joint in the process of human lower limb movement, and the motion trajectory coordinates are simulated by Matlab, and the curve of position coordinates and torque curves of hip and knee joints are obtained. The simulation results of the model are compared with the experimental results. The results show that the theoretical part of the model is consistent with the actual situation. Finally, referring to the gait characteristics of healthy adult men measured by the experiment, the trajectory of gait, step size and joint angular displacement is selected as the effective parameters of gait planning, and the movement of the three stages of gait planning is analyzed and planned, that is, the beginning, the intermediate step and the stop step. The gait planning of each stage is connected together to complete a periodic gait planning. The purpose of this paper is to provide a reference for the research of rehabilitation training system of lower limbs in multi-position.
【学位授予单位】：长春大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TH789

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