踏板式步态康复训练器研究

发布时间：2018-01-29 03:19

本文关键词： 康复训练器踏板式跖骨步态规律　出处：《哈尔滨工程大学》2012年硕士论文　论文类型：学位论文

【摘要】：康复机器人因其快速的发展，在近年来已得国际康复领域的重视，成为研究热点。步态康复训练器可以帮助下肢运动机能障碍的患者进行恢复肢体运动功能的康复训练，具有广泛的研究价值和市场前景。本文研究的踏板式步态康复训练器是一种带有跖趾关节康复训练和减重康复训练功能，帮助患者恢复下肢行走和运动能力的健身器械，能够帮助截瘫、下肢有运动障碍的患者进行下肢康复训练，也更具有实际应用意义。本文首先在人体正常行走时的步态理论的基础上，对人类足部的关节结构、尺寸和人类步态运动的特性规律进行了分析，为设计踏板式步态康复训练器的步态轨迹模拟康复机构和足驱动机构的提供了参考数据和理论依据。根据人体步态轨迹测量实验的实验数据，确定了个康复机构的工作空间，完成机械结构的总体方案。其次，确定踏板式步态康复训练器进行总体结构，并绘制了产品样机工程。训练器机械结构部分由步态轨迹模拟康复训练机构、足驱动机构和减重康复训练机构组成。利用Pro/E三维设计软件进行了三维建模，通过二维图纸对其具体机构连接模块进行了分析及说明。再次，，本文对踏板式步态康复训练器进行了杆件拆分，编制了相应的MATLAB的M函数，利用MATLAB的Simulink对杆件机构建模进行矩阵运算并加以仿真，得到了踏板式步态康复训练器脚踏板和趾骨部位的弯曲曲线，符合人在平地行走的步态轨迹、跖骨关节弯曲角度规律及踝关节的弯曲角度规律。最后，采用New-Euler法推导了踏板式步态康复训练器的动力学、运动约束方程，用以构造训练器的约束矩阵。确定了踏板式步态训练器的控制方案，完成了对踏板式步态康复训练器的控制系统研究，控制系统组成及传感器信号采集电路的制作。
[Abstract]:Rehabilitation robot has been paid more and more attention in the international rehabilitation field in recent years because of its rapid development. Gait rehabilitation training device can help patients with lower extremity motor dysfunction to recover limb motor function. The pedal gait rehabilitation training device studied in this paper is a kind of rehabilitation training function with metatarsophalangeal joint and weight loss. The fitness equipment which can help the patients to recover the walking and movement ability of lower limbs can help the patients with paraplegia and lower extremity dyskinesia to carry on the lower extremity rehabilitation training which also has the practical application significance. Based on the gait theory of human normal walking, this paper analyzes the joint structure, dimensions and the characteristics of human gait movement. It provides reference data and theoretical basis for the design of gait track simulation mechanism and foot driving mechanism of pedal gait rehabilitation training device. According to the experimental data of human gait trajectory measurement experiment. The working space of a rehabilitation institution is determined and the overall scheme of mechanical structure is completed. Secondly, the overall structure of the pedal gait rehabilitation training device is determined, and the prototype project is drawn. The mechanical structure of the trainer is simulated by the gait track. The foot drive mechanism and the body weight loss rehabilitation training organization are composed. The 3D modeling is carried out by using Pro/E 3D design software, and the connection module of the specific mechanism is analyzed and explained by the two-dimensional drawing. Thirdly, the pedal gait rehabilitation training device is split and the corresponding M function of MATLAB is compiled. The bending curves of pedals and phalanx of pedal gait rehabilitation training device were obtained by using Simulink of MATLAB to calculate and simulate the modeling of the bar mechanism. It accords with the gait track of walking on flat ground, the law of metatarsal joint bending angle and the law of ankle joint bending angle. Finally, the dynamics and motion constraint equations of pedal gait rehabilitation trainer are derived by New-Euler method. The control scheme of pedal gait trainer is determined, and the control system of pedal gait rehabilitation trainer is studied. The composition of the control system and the fabrication of the sensor signal acquisition circuit.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH789

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