本文選題：坐姿康復(fù)機(jī)器人　切入點(diǎn)：肢體協(xié)調(diào)訓(xùn)練　出處：《合肥工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來(lái),由生理機(jī)能衰退、中風(fēng)偏癱、脊髓損傷等原因?qū)е碌闹w運(yùn)動(dòng)功能障礙的患者數(shù)量越來(lái)越多,通過(guò)簡(jiǎn)單的醫(yī)療設(shè)備或人工康復(fù)護(hù)理對(duì)其進(jìn)行康復(fù)治療,已經(jīng)遠(yuǎn)不能滿足他們的需求�？祻�(fù)機(jī)器人不僅能減輕護(hù)理人員工作強(qiáng)度、保證患者康復(fù)訓(xùn)練強(qiáng)度和效率,而且能客觀的評(píng)價(jià)患者的康復(fù)效果,因而得到了廣泛關(guān)注,具有廣闊的研究和應(yīng)用前景。本論文在分析國(guó)內(nèi)外康復(fù)機(jī)器人領(lǐng)域研究現(xiàn)狀的基礎(chǔ)上,依據(jù)運(yùn)動(dòng)康復(fù)機(jī)理,研制了一種基于坐姿的具有肢體協(xié)調(diào)訓(xùn)練功能的新型康復(fù)機(jī)器人,具體進(jìn)行了如下工作： 文章分析了人體上下肢生理結(jié)構(gòu)、肢體主要關(guān)節(jié)活動(dòng)度,以及人體正常行走時(shí)上下肢的協(xié)調(diào)規(guī)律和運(yùn)動(dòng)軌跡,提出了康復(fù)機(jī)器人的設(shè)計(jì)要求。通過(guò)設(shè)計(jì)試驗(yàn)探求了坐姿狀態(tài)下滿足設(shè)計(jì)要求的肢體運(yùn)動(dòng)規(guī)律。在此基礎(chǔ)上創(chuàng)新設(shè)計(jì)出七連桿變胞機(jī)構(gòu)作為肢體協(xié)調(diào)訓(xùn)練機(jī)構(gòu),通過(guò)改變機(jī)構(gòu)的自由度和工作位置來(lái)改變機(jī)構(gòu)運(yùn)動(dòng)參數(shù),實(shí)現(xiàn)康復(fù)訓(xùn)練軌跡位置和幅度的可調(diào)節(jié),并利用Pro/E軟件設(shè)計(jì)了康復(fù)機(jī)器人的虛擬樣機(jī)。 對(duì)康復(fù)訓(xùn)練機(jī)構(gòu)進(jìn)行正逆運(yùn)動(dòng)學(xué)分析,推導(dǎo)出機(jī)構(gòu)末端的正逆運(yùn)動(dòng)學(xué)方程。利用Matlab/SimMechanics建立相應(yīng)的仿真模型,進(jìn)行了運(yùn)動(dòng)學(xué)的正逆分析驗(yàn)證,得出了機(jī)器人的工作空間,為機(jī)器人運(yùn)動(dòng)控制和規(guī)劃打下了基礎(chǔ)。 本文研究了康復(fù)訓(xùn)練機(jī)構(gòu)工作位置的確定方法。針對(duì)不同身高的患者,建立患者與康復(fù)訓(xùn)練機(jī)構(gòu)的人機(jī)模型,通過(guò)模型仿真得出患者的各個(gè)肢體關(guān)節(jié)活動(dòng)曲線和數(shù)據(jù)來(lái)確定康復(fù)機(jī)器人工作位置。針對(duì)不同幅度的訓(xùn)練,采用優(yōu)化設(shè)計(jì)的方法確定康復(fù)機(jī)器人的工作位置。 文章最后研制出了康復(fù)機(jī)器人樣機(jī),并進(jìn)行了肢體協(xié)調(diào)訓(xùn)練功能實(shí)驗(yàn)、實(shí)現(xiàn)規(guī)劃訓(xùn)練幅度功能實(shí)驗(yàn)、機(jī)構(gòu)自動(dòng)調(diào)節(jié)功能實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明,機(jī)器人能夠滿足不同患者的上下肢協(xié)調(diào)訓(xùn)練康復(fù)需求。
[Abstract]:In recent years, the number of patients with motor dysfunction caused by physiological decline, apoplexy hemiplegia, spinal cord injury and other reasons is increasing. Rehabilitation treatment is carried out through simple medical equipment or artificial rehabilitation nursing. Rehabilitation robot can not only reduce the working intensity of nursing staff, guarantee the intensity and efficiency of rehabilitation training, but also objectively evaluate the rehabilitation effect of patients. Based on the analysis of the present research situation in the field of rehabilitation robots both at home and abroad and on the basis of the mechanism of motor rehabilitation, a new rehabilitation robot with coordinated training function of limbs is developed based on sitting posture. The following work has been carried out:. The physiological structure of the upper and lower extremities, the range of motion of the main joints of the limbs, the coordination law and the movement track of the upper and lower limbs during the normal walking of the human body were analyzed in this paper. In this paper, the design requirements of rehabilitation robot are put forward, and the rules of limb motion in sitting posture are explored through design experiments. On the basis of this, a seven-link variable cell mechanism is designed as a coordinated limb training institution. By changing the degree of freedom and the working position of the mechanism, the kinematic parameters of the mechanism can be changed, and the position and amplitude of the rehabilitation training track can be adjusted. The virtual prototype of the rehabilitation robot is designed by using Pro/E software. The forward and inverse kinematics equations at the end of the rehabilitation training institution are analyzed, and the corresponding simulation model is established by using Matlab/SimMechanics. The kinematics analysis and inverse analysis are carried out, and the workspace of the robot is obtained. It lays the foundation for robot motion control and planning. In this paper, the method of determining the working position of rehabilitation training institutions is studied. A man-machine model of patients and rehabilitation training institutions is established for patients with different heights. The working position of rehabilitation robot is determined by model simulation, and the optimal design method is used to determine the working position of rehabilitation robot. Finally, the prototype of rehabilitation robot is developed, and the function experiment of limb coordination training is carried out, which realizes the function experiment of planning training amplitude and automatic regulation of mechanism. The experimental results show that, The robot can meet the rehabilitation needs of different patients with coordinated training of upper and lower limbs.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：R49;TP242

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