基于虚拟环境的中风病人上肢康复主动控制系统研究

发布时间：2018-03-25 12:16

本文选题：虚拟环境　切入点：主动辅助控制　出处：《华东理工大学》2017年硕士论文

【摘要】：脑卒中(俗称"中风")作为一种致残率极高的神经类疾病,严重影响了人们的身体健康和正常生活,正规的、有规律的、合理化的康复训练可以良好地促进瘫痪肢体的功能恢复。传统的物理康复治疗指患者在医生或专业治疗师的协助下进行大量重复性的肢体运动,通过刺激受损脑神经促进恢复,但是具有成本高、效率低等缺点。随着康复机器人技术和虚拟现实技术的迅速发展,触觉交互系统己经广泛应用于中风病人肢体功能康复的临床治疗过程中,它不仅可以模拟虚拟训练场景,创造良好的沉浸感,极大地调动患者的训练积极性,改善训练效果,还能够将医生从医患一对一繁重的运动辅助及体力劳动中解放出来,量化运动任务和刺激,量化检测和评价手段。为了建立触觉交互系统,需要完成以下两个具体目标:(1)创建虚拟环境,设计训练任务;(2)基于触觉设备Phantom Omni,设计主动控制系统,辅助中风病人完成康复训练。本论文为了实现上述目标,主要做了以下四项工作:(1)利用H3D交互软件创建虚拟环境,设计轨迹圆跟踪虚拟训练任务;(2)对人机交互系统(Human-MachineSystem)进行运动学和静力学的定量分析;(3)基于运动学和静力学分析,制定位置和力反馈控制方案,实现运动误差的实时跟踪控制;(4)设计实验方案,验证主动辅助康复控制系统的有效性。本文通过上述工作,得到以下结论:(1)虚拟现实系统有助于提高患者康复训练过程中的积极性;(2)通过评估实验并对结果采用配对T检验,验证了触觉交互系统对中风病人上肢康复训练是有效的。本论文的主要贡献在于:(1)综合考虑用户环境对交互设备的影响,实现触觉交互系统动态模型的定量分析;(2)针对触觉交互设备没有力传感器的特点,采用阻抗控制方案实现了力反馈控制。
[Abstract]:Stroke (commonly known as "stroke") as a very high rate of disability of nerve diseases, seriously affected people's physical health and normal life, regular, regular, Rational rehabilitation training can well promote the functional recovery of paralyzed limbs. Traditional physical rehabilitation therapy refers to a patient who, with the assistance of a doctor or professional therapist, carries out a large number of repetitive limb movements to promote recovery by stimulating the damaged brain nerve. With the rapid development of rehabilitation robot technology and virtual reality technology, tactile interaction system has been widely used in the clinical treatment of limb functional rehabilitation of stroke patients. It can not only simulate the virtual training scene, create a good sense of immersion, greatly mobilize the training enthusiasm of patients, improve the training effect, but also free doctors from the doctor to patient one-to-one heavy exercise assistance and physical labor. In order to establish tactile interaction system, we need to complete the following two specific targets: 1) create virtual environment, design training task 2) Design active control system based on tactile device Phantom Omni. In order to achieve the above goal, this thesis mainly did the following four tasks: 1) creating virtual environment by using H3D interactive software. The virtual training task of trajectory circle tracking is designed to carry out the quantitative analysis of kinematics and statics for Human-Machine system (Human-Machine system). Based on kinematics and statics analysis, the position and force feedback control scheme is formulated. The experimental scheme is designed to verify the effectiveness of the active auxiliary rehabilitation control system. The following conclusions are drawn: 1) the virtual reality system helps to improve the enthusiasm of patients during rehabilitation training) by evaluating the experiment and using paired T test to test the results. The results show that tactile interaction system is effective for the rehabilitation of upper limbs of stroke patients. The main contribution of this paper is to consider the influence of user environment on the interactive equipment. The quantitative analysis of dynamic model of tactile interaction system is realized. Aiming at the fact that there is no force sensor in tactile interactive equipment, the impedance control scheme is adopted to realize force feedback control.
【学位授予单位】：华东理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R743.3;TP391.9

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