病理性震颤的机制与辅助式抑震技术研究
发布时间：2018-09-12 16:35
【摘要】：震颤是一种常见的运动功能失调现象，很多研究者对其病因展开了研究，但是到目前为止还没有一个清晰明确的解释。目前主要的观点有中枢震颤和外围震颤两种机制，并且通过数学建模的方法从工程角度研究震颤机制已经成为了一种趋势。本文基于具有本体感知反馈的肌骨模型对震颤的两种病因进行仿真研究，并在真实受试者身上通过实验对仿真结果进行验证。 另外，对于辅助式抑震技术的研究引起了众多研究人员的兴趣，功能性电刺激(FES)作为一门新兴技术，已被广泛应用在康复工程领域，如果能够将其应用在抑制震颤方面，其系统能够集成为袖套样式，美观、实用、装饰性好、外形更易为患者所接受，必然会存在巨大的潜在用户群。本文以非线性腕关节肌骨模型为控制对象仿真单自由度运动型震颤抑制，通过高通滤波器滤除低频自主运动以获取腕关节震颤信号，对传统PID与模糊自适应PID在单自由度运动性震颤抑制上的效果进行了比较，在仿真结果的指导下完成腕关节单自由度运动型震颤抑制系统集成设计与临床实验测试。最后对多自由度震颤抑制进行了仿真研究，，本部分中腕关节骨骼模型为类似倒立摆的具有耦合特点的状态空间方程形式，能够较好的表征真实人体腕关节骨骼特性，基于模型逆的前馈控制用来提高系统的实时响应性，采用线性二次调节(LQR)控制算法对震颤进行消除，结果表明该控制策略能够获得一个较好的抑震效果。
[Abstract]:Tremor is a common phenomenon of motor dysfunction. Many researchers have studied its etiology, but so far there is no clear explanation. At present, there are two kinds of mechanisms of central tremor and peripheral tremor, and it has become a trend to study the mechanism of tremor from the point of view of engineering through mathematical modeling. In this paper, two kinds of etiology of tremor are simulated based on the muscle bone model with proprioceptive feedback, and the simulation results are verified by experiments on real subjects. In addition, the study of auxiliary shock suppression technology has attracted the interest of many researchers. As a new technology, functional electrical stimulation (FES) has been widely used in rehabilitation engineering, if it can be used in the field of tremor suppression. The system can be integrated into sleeve style, beautiful, practical, decorative, more easily accepted by patients, there will be a huge potential users. In this paper, the nonlinear wrist muscle bone model is used as the control object to simulate the single degree-of-freedom motion type tremor suppression, and the low-frequency autonomous motion is filtered out by high-pass filter to obtain the wrist tremor signal. The effects of traditional PID and fuzzy adaptive PID on single degree-of-freedom motion induced tremor suppression are compared. Under the guidance of simulation results, the integrated design and clinical test of wrist joint single-degree-of-freedom motion tremor suppression system are completed. Finally, the simulation of multi-degree-of-freedom tremor suppression is carried out. In this part, the skeletal model of wrist joint is a state space equation with coupling characteristics similar to inverted pendulum, which can better characterize the skeletal characteristics of real human wrist joint. The feedforward control based on model inversion is used to improve the real-time response of the system. The linear quadratic (LQR) control algorithm is used to eliminate the tremor. The results show that the control strategy can achieve a better effect of earthquake suppression.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：R742.5
本文编号：2239594
[Abstract]:Tremor is a common phenomenon of motor dysfunction. Many researchers have studied its etiology, but so far there is no clear explanation. At present, there are two kinds of mechanisms of central tremor and peripheral tremor, and it has become a trend to study the mechanism of tremor from the point of view of engineering through mathematical modeling. In this paper, two kinds of etiology of tremor are simulated based on the muscle bone model with proprioceptive feedback, and the simulation results are verified by experiments on real subjects. In addition, the study of auxiliary shock suppression technology has attracted the interest of many researchers. As a new technology, functional electrical stimulation (FES) has been widely used in rehabilitation engineering, if it can be used in the field of tremor suppression. The system can be integrated into sleeve style, beautiful, practical, decorative, more easily accepted by patients, there will be a huge potential users. In this paper, the nonlinear wrist muscle bone model is used as the control object to simulate the single degree-of-freedom motion type tremor suppression, and the low-frequency autonomous motion is filtered out by high-pass filter to obtain the wrist tremor signal. The effects of traditional PID and fuzzy adaptive PID on single degree-of-freedom motion induced tremor suppression are compared. Under the guidance of simulation results, the integrated design and clinical test of wrist joint single-degree-of-freedom motion tremor suppression system are completed. Finally, the simulation of multi-degree-of-freedom tremor suppression is carried out. In this part, the skeletal model of wrist joint is a state space equation with coupling characteristics similar to inverted pendulum, which can better characterize the skeletal characteristics of real human wrist joint. The feedforward control based on model inversion is used to improve the real-time response of the system. The linear quadratic (LQR) control algorithm is used to eliminate the tremor. The results show that the control strategy can achieve a better effect of earthquake suppression.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：R742.5
【参考文献】
相关期刊论文 前1条
1 陶永华;新型 PID 控制及其应用──第四讲 模糊 PID 控制[J];工业仪表与自动化装置;1998年01期
相关博士学位论文 前2条
1 孙建;基于外骨骼机器人技术的人体手臂震颤抑制关键技术研究[D];中国科学技术大学;2010年
2 李军强;面向病理性震颤的抑震机器人及其关键技术研究[D];哈尔滨工业大学;2010年
本文编号：2239594
本文链接：https://www.wllwen.com/yixuelunwen/shenjingyixue/2239594.html
最近更新
教材专著
