气动肌肉驱动的踝关节康复训练装置设计及控制特性研究

发布时间：2018-06-01 13:03

本文选题：气动肌肉 + 踝关节　；参考：《广东工业大学》2012年硕士论文

【摘要】：踝关节康复训练是一种对患者的踝关节进行运动训练,实现其运动功能康复的治疗方法。踝关节是人体下肢最复杂的关节,也是最重要的一个关节之一。因为意外造成神经损伤或者肢体损伤的病人,长时间不能自主运动,容易产生踝关节粘连和肌肉萎缩,因此有必要对踝关节进行合理、科学的康复训练。在各种康复训练运动中,等速持续被动运动(CPM, Continuous Passive Motion)和等速主动抗阻运动(ARM, Active Resistance Motion)是目前应用最广泛,而且公认是最有效的康复训练方法。等速康复训练运动需要专用的等速康复训练装置实现,传统的等速康复训练装置以电机或气缸作为驱动器,容易实现且控制特性好,但是缺乏安全性和柔顺性。与此相比,气动肌肉是一种新型的驱动器,不仅有较好的安全性和柔顺性,还具有与生物肌肉非常相似的力/长度特性,因此本文采用气动肌肉作为驱动器,设计了踝关节康复训练装置和等速CPM、等速ARM控制器,并对装置的控制特性进行了模拟实验研究。首先,本文根据踩关节康复训练的要求,提出了踝关节康复训练装置的总体方案,并对气动系统和机械系统进行了设计。其次,采用嵌入式系统作为康复训练装置的控制系统,对嵌入式硬件系统和软件系统进行了设计,包括主控模块和传感器选型,测控回路、应用程序开发及其开发环境搭建,程序代码开发等。然后,对康复训练装置的等速CPM控制特性进行了实验研究。先在康复训练装置中应用前馈-PID反馈控制算法,然后在控制算法中加入给定超前和位置补偿,并使用安装在实验装置运动平台上的质量块作为负载模拟人脚的质量,进行控制特性实验研究。最后,针对踝关节等速ARM康复训练的要求,设计了等速ARM控制器,并进行了质量块模拟和人参与的等速ARM实验,对其控制特性进行了研究。实验的结果表明,所设计的康复训练装置能满足跺关节等速CPM和等速ARM的要求,对类似的下肢康复机器人设计研究有参考价值。
[Abstract]:Ankle rehabilitation training is a kind of treatment for ankle joint movement training to realize its motor function rehabilitation. Ankle is the most complex joint of human lower extremities, and it is also one of the most important joints. It is necessary to carry out reasonable and scientific rehabilitation training of ankle joint because the patient who accidentally caused nerve injury or limb injury can not exercise autonomously for a long time and is prone to ankle joint adhesion and muscle atrophy. Among all kinds of rehabilitation training exercises, isokinetic passive exercise, Continuous Passive Motion) and isokinetic active resistance exercise, Active Resistance Motion) are the most widely used and recognized as the most effective rehabilitation training methods. The constant-speed rehabilitation training needs a special constant-speed rehabilitation training device. The traditional isokinetic rehabilitation training device uses motor or cylinder as the driver, which is easy to realize and has good control characteristics, but it lacks safety and flexibility. Compared with this, pneumatic muscle is a new type of driver, which not only has good safety and flexibility, but also has the force / length characteristics similar to that of biological muscle. Therefore, pneumatic muscle is used as driver in this paper. The ankle rehabilitation training device, isokinetic CPM and isokinetic ARM controller are designed, and the control characteristics of the device are simulated and studied. First of all, according to the requirements of training, the overall scheme of ankle rehabilitation training equipment is put forward, and the pneumatic system and mechanical system are designed. Secondly, the embedded system is used as the control system of rehabilitation training device. The embedded hardware system and software system are designed, including the selection of main control module and sensor, the measurement and control loop, the development of application program and the construction of development environment. Program code development, etc. Then, the constant-speed CPM control characteristics of rehabilitation training equipment are studied experimentally. The feedforward pid feedback control algorithm is first applied in the rehabilitation training device, and then the given lead and position compensation is added to the control algorithm, and the mass block installed on the motion platform of the experimental device is used as the load to simulate the mass of the human foot. The control characteristics are studied experimentally. Finally, an isokinetic ARM controller is designed to meet the requirements of the constant-speed ARM rehabilitation training of the ankle joint. The mass block simulation and the experiment of isokinetic ARM are carried out, and the control characteristics of the controller are studied. The experimental results show that the designed rehabilitation training device can meet the requirements of isokinetic CPM and isokinetic ARM of the stomp joint and has reference value for the design of similar lower limb rehabilitation robots.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH789

【相似文献】