本文關(guān)鍵詞： 下肢康復(fù) 人機(jī)工程學(xué) 間斷性牽引法 力閉環(huán)控制 電動(dòng)推桿　出處：《大連理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：在我國(guó),由于老齡化人口迅速增多,一些老年病如腦溢血、高血壓等隨之增加,而由腦溢血引起的偏癱則成為了當(dāng)代康復(fù)醫(yī)學(xué)的難題。目前臨床康復(fù)已取得了一定成果,但是大部分康復(fù)中心采用外骨骼式康復(fù)機(jī)器人對(duì)患肢進(jìn)行康復(fù)。外骨骼式有其先天優(yōu)勢(shì),即可以模擬人體正常行走時(shí)的步態(tài)進(jìn)行康復(fù)治療,使患者恢復(fù)行走能力。但是痙攣期病人關(guān)節(jié)活動(dòng)度很小,患肢基本處于繃直狀態(tài),如果康復(fù)時(shí)運(yùn)動(dòng)角度超過(guò)病人許用安全角度,則很容易造成二次拉傷�；诖朔N思想,本文將設(shè)計(jì)一款新型下肢肌痙攣康復(fù)裝置,以滿足患者痙攣期的需要。本文首先對(duì)偏癱引起下肢肌痙攣的病理進(jìn)行了研究,了解下肢結(jié)構(gòu)和運(yùn)動(dòng)機(jī)理,總結(jié)了臨床上的主要康復(fù)方法。分析外骨骼式的康復(fù)方法優(yōu)缺點(diǎn),基于神經(jīng)可修復(fù)理論,提出一種新型康復(fù)方案——間斷性牽引法,采用新型控制策略——力閉環(huán)控制,代替外骨骼式的PVT控制模式。在機(jī)構(gòu)設(shè)計(jì)方面,查找人體相關(guān)參數(shù),依據(jù)人機(jī)工程學(xué)理論,使人機(jī)之間達(dá)到最佳適應(yīng)性。整體采用可升降座椅式設(shè)計(jì),電動(dòng)推桿作為驅(qū)動(dòng),具有兩個(gè)關(guān)鍵自由度,驅(qū)動(dòng)膝、踝兩關(guān)節(jié)；座椅靠背在0～83°范圍內(nèi)可調(diào),保證患者的舒適度�？紤]到康復(fù)模式和受力情況,還需要對(duì)裝置進(jìn)行運(yùn)動(dòng)學(xué)和應(yīng)力應(yīng)變仿真。傳感器系統(tǒng)則采用拉壓力傳感器和絕對(duì)式編碼器,采集力信號(hào)和角度信號(hào)反饋給控制系統(tǒng),并作為評(píng)價(jià)指標(biāo)實(shí)時(shí)顯示在屏幕上,用于評(píng)估康復(fù)進(jìn)程。然后編寫控制流程圖,為編輯程序做準(zhǔn)備。另外,患者的安全性需要保證,除了機(jī)械裝置自身限位功能之外,還要設(shè)計(jì)急停斷電按鈕,如果超過(guò)安全角度則立刻斷電。本文所設(shè)計(jì)的康復(fù)裝置是針對(duì)痙攣期病人的被動(dòng)康復(fù)治療,因?yàn)榇穗A段治療最困難、最復(fù)雜也是最重要的,而當(dāng)前市場(chǎng)中的外骨骼基本是貫穿整個(gè)治療過(guò)程,沒(méi)有痙攣期的針對(duì)性治療,故此康復(fù)裝置的應(yīng)用前景是十分廣泛的。
[Abstract]:In China, due to the rapid increase of the aging population, some senile diseases such as cerebral hemorrhage, hypertension and so on have increased, while hemiplegia caused by cerebral hemorrhage has become a difficult problem in modern rehabilitation medicine. At present, some achievements have been made in clinical rehabilitation. But most rehabilitation centers use exoskeleton rehabilitation robots to rehabilitate the affected limbs. Exoskeleton has its innate advantage, that is, it can simulate the human body's gait while walking normally. But during the spastic period, the patient's joint motion is very small, the affected limb is basically in a strained state, and if the angle of movement is higher than the patient's safe angle during rehabilitation, it is easy to cause a secondary strain. In this paper, a new rehabilitation device for lower extremity muscle spasm was designed to meet the needs of patients during spasticity. Firstly, the pathology of lower extremity spasm caused by hemiplegia was studied in order to understand the structure and movement mechanism of lower extremity. This paper summarizes the main clinical rehabilitation methods, analyzes the advantages and disadvantages of exoskeleton rehabilitation methods, and based on the theory of nerve repairable, puts forward a new rehabilitation scheme-intermittent traction method, and adopts a new control strategy-force closed loop control. Instead of exoskeleton PVT control mode. In the aspect of mechanism design, find the related parameters of human body, according to the theory of ergonomics, make the best adaptability between man and machine. It has two key degrees of freedom, driving the knee and ankle joints, and the back of the seat is adjustable in the range of 0 擄83 擄to ensure the patient's comfort. It is also necessary to simulate the kinematics and stress and strain of the device. The sensor system adopts tension and pressure sensors and absolute encoders to collect the force signals and angle signals to the control system and display them on the screen as an evaluation index in real time. To evaluate the rehabilitation process. Then write a control flow chart to prepare for editing the program. In addition, the patient's safety needs to ensure that in addition to the mechanical device's own limit function, but also the design of emergency power off button, The rehabilitation device designed in this paper is passive rehabilitation for spastic patients because it is the most difficult, the most complex, and the most important. The exoskeleton in the current market basically runs through the whole treatment process, and there is no targeted therapy in the spasmodic period, so the application prospect of the rehabilitation device is very extensive.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：R496

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本文編號(hào)：1522558