【摘要】：伴隨各種運動的產(chǎn)生,人類踝關(guān)節(jié)不斷承受各種各樣的沖擊,使得踝關(guān)節(jié)成為運動損傷中最易受傷的關(guān)節(jié)之一。而踝關(guān)節(jié)損傷或手術(shù)之后,如何使其盡快恢復(fù)其機(jī)能,無疑也是一個重要的課題。為實現(xiàn)踝關(guān)節(jié)輔助康復(fù),本課題設(shè)計了一種新型的、基于球銷副的仿生踝關(guān)節(jié)輔助康復(fù)裝置,該裝置具有兩個自由度,但能近似實現(xiàn)踝關(guān)節(jié)背屈/跖屈運動、內(nèi)翻/外翻運動以及它們的復(fù)合運動,可根據(jù)患者的不同康復(fù)階段選擇不同的控制模式,不同的運動幅度和不同的運動頻率,對人體踝關(guān)節(jié)進(jìn)行康復(fù)治療。本文首先介紹了目前國內(nèi)外仿人踝關(guān)節(jié)機(jī)構(gòu)和踝關(guān)節(jié)康復(fù)機(jī)構(gòu)的研究概況。其次,根據(jù)人體踝關(guān)節(jié)的運動特點,建立了踝關(guān)節(jié)的機(jī)構(gòu)學(xué)模型,再依據(jù)機(jī)構(gòu)學(xué)模型綜合出了一種實現(xiàn)背屈/跖屈運動、內(nèi)翻/外翻運動以及復(fù)合運動的,具有兩個主動驅(qū)動的,但能近似實現(xiàn)三維運動的踝關(guān)節(jié)輔助康復(fù)裝置機(jī)構(gòu)方案。在確定該裝置的機(jī)構(gòu)方案后,對裝置進(jìn)行了運動建模,即針對結(jié)構(gòu)采用的剛?cè)峤M合驅(qū)動的模式,對剛?cè)峤M合驅(qū)動與剛性驅(qū)動模式分別進(jìn)行建模分析,給出了相關(guān)計算公式,并采用Matlab軟件進(jìn)行了計算。同時,采用Recurdyn仿真軟件對該裝置進(jìn)行了仿真分析,并與Matlab理論計算的結(jié)果進(jìn)行了比較。在此基礎(chǔ)之上,對裝置的控制系統(tǒng)進(jìn)行了研究,分別研究了控制系統(tǒng)硬件與軟件;控制系統(tǒng)硬件設(shè)計主要包括電機(jī)的選取,控制器的選擇等;軟件設(shè)計主要包括電機(jī)控制模塊軟件結(jié)構(gòu),CAN總線通訊等;建立了人機(jī)友好交互界面。最后搭建了踝關(guān)節(jié)輔助康復(fù)裝置的實驗平臺,并完成了初步的實驗。
[Abstract]:With the emergence of various kinds of sports, the human ankle has been subjected to a variety of shocks, making the ankle become one of the most vulnerable joints in sports injuries. How to restore the ankle joint function as soon as possible after the ankle injury or operation is undoubtedly an important issue. In order to achieve ankle joint rehabilitation, a new bionic ankle joint rehabilitation device based on ball pin pair was designed in this paper. The device has two degrees of freedom, but it can achieve the ankle dorsiflexion / metatarsal flexion approximately. Varus / valgus exercise and their combined exercise can be used to rehabilitate the ankle according to the different control mode, different movement amplitude and different movement frequency of the patients in different rehabilitation stages. This paper first introduces the research situation of humanoid ankle mechanism and ankle rehabilitation mechanism at home and abroad. Secondly, according to the motion characteristics of the human ankle joint, the mechanism model of the ankle joint is established, and according to the mechanism model, a kind of motion of dorsiflexion / metatarsal flexion, varus / valgus and compound motion is synthesized. There are two active drive, but can approximately realize three-dimensional motion of the ankle joint auxiliary rehabilitation device mechanism. After determining the mechanism scheme of the device, the motion model of the device is established, that is, the rigid-flexible combination drive and the rigid driving mode are modeled and analyzed respectively, and the relevant calculation formulas are given. The calculation is carried out by Matlab software. At the same time, the Recurdyn simulation software is used to simulate and analyze the device, and the results are compared with the results of Matlab theory. On this basis, the control system of the device is studied, the hardware and software of the control system are studied respectively, the hardware design of the control system mainly includes the selection of the motor, the selection of the controller, etc. The software design includes motor control module software structure and can bus communication, and establishes man-machine friendly interface. Finally, the experimental platform of ankle joint auxiliary rehabilitation device was built, and the preliminary experiment was completed.
【學(xué)位授予單位】：鄭州輕工業(yè)學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：R496;TP242

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