本文選題：康復(fù)機(jī)器人　切入點(diǎn)：穿戴式　出處：《華中科技大學(xué)》2016年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：腦卒中是老齡化社會(huì)中最為常見(jiàn)的疾病之一。腦卒中后引發(fā)的運(yùn)動(dòng)功能障礙使得患者成為了社會(huì)和家庭的沉重負(fù)擔(dān)。目前,引進(jìn)康復(fù)機(jī)器人對(duì)偏癱患者進(jìn)行康復(fù)訓(xùn)練從而使患者恢復(fù)部分運(yùn)動(dòng)能力已經(jīng)成為了一種趨勢(shì)。然而大多數(shù)醫(yī)院的康復(fù)設(shè)備笨重、無(wú)法移動(dòng),患者訓(xùn)練時(shí)感到不舒適,參與性不高,因此康復(fù)效果不理想�；诖�,本文提出了一種基于虛擬現(xiàn)實(shí)的氣動(dòng)外骨骼上肢康復(fù)機(jī)器人,并對(duì)其控制策略進(jìn)行了研究。根據(jù)偏癱患者的康復(fù)需求和康復(fù)醫(yī)學(xué)理論,本文設(shè)計(jì)了一種氣動(dòng)外骨骼上肢康復(fù)機(jī)器人,并介紹了其機(jī)械結(jié)構(gòu)設(shè)計(jì)、控制系統(tǒng)設(shè)計(jì)以及工作原理。然后搭建氣動(dòng)肌肉特性實(shí)驗(yàn)平臺(tái)對(duì)其等長(zhǎng)特性和等壓特性進(jìn)行了研究,并建立了氣動(dòng)肌肉的靜態(tài)模型。隨后,基于氣動(dòng)肌肉模型對(duì)雙向?qū)P(guān)節(jié)驅(qū)動(dòng)進(jìn)行了建模和實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果證明了模型的有效性。為了提高康復(fù)機(jī)器人的控制效果,本文討論了PID控制并在其基礎(chǔ)上提出了模糊PID控制算法,實(shí)驗(yàn)結(jié)果證明了模糊PID算法的精確度和穩(wěn)定性�；诨颊邔�(duì)與安全性和舒適性的要求,我們引進(jìn)了滑模代理控制(PSMC)。該控制具有抗干擾的能力,并將其經(jīng)擾動(dòng)后的控制效果與傳統(tǒng)控制進(jìn)行了對(duì)比。最后,介紹了為提高康復(fù)訓(xùn)練效果而配套研制的虛擬現(xiàn)實(shí)平臺(tái)。該平臺(tái)的虛擬現(xiàn)實(shí)環(huán)境在Panda3D環(huán)境下研發(fā),搭載了眼動(dòng)儀配合使用。康復(fù)機(jī)器人與虛擬現(xiàn)實(shí)平臺(tái)結(jié)合起來(lái),通過(guò)眼動(dòng)儀實(shí)現(xiàn)了患者的主動(dòng)意圖,通過(guò)虛擬現(xiàn)實(shí)環(huán)境為治療師和患者反饋康復(fù)訓(xùn)練效果,從而提高患者的積極性,增強(qiáng)康復(fù)訓(xùn)練的效果。
[Abstract]:Stroke is one of the most common diseases in an aging society. Motor dysfunction after stroke makes patients a heavy burden on society and families. It has become a trend to introduce rehabilitation robots to rehabilitate hemiplegic patients so that they can recover some of their motor abilities. However, most hospitals have heavy, immobile rehabilitation equipment, and the patients feel uncomfortable during training. This paper presents a pneumatic exoskeleton upper limb rehabilitation robot based on virtual reality. According to the rehabilitation needs of hemiplegic patients and the theory of rehabilitation medicine, a kind of pneumatic exoskeleton upper limb rehabilitation robot is designed, and its mechanical structure design is introduced. Control system design and working principle. Then, the isometric and isobaric characteristics of Pneumatic muscle were studied on a pneumatic muscle experimental platform, and the static model of Pneumatic muscle was established. Based on the pneumatic muscle model, the bidirectional pull joint drive is modeled and experimented. The experimental results show that the model is effective. In order to improve the control effect of the rehabilitative robot, In this paper, the PID control is discussed and a fuzzy PID control algorithm is proposed. The experimental results show that the fuzzy PID algorithm is accurate and stable, based on the patient's requirements for safety and comfort. We have introduced the sliding mode agent control (PSMCN). The control has the ability of anti-interference, and the control effect after disturbance is compared with the traditional control. This paper introduces the virtual reality platform developed in order to improve the effect of rehabilitation training. The virtual reality environment of the platform is developed under the environment of Panda3D, and the eye movement instrument is used together. The rehabilitation robot is combined with the virtual reality platform. The active intention of patients was realized by eye movement instrument, and the effect of rehabilitation training was feedback by virtual reality environment for therapists and patients, so as to improve the enthusiasm of patients and enhance the effect of rehabilitation training.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TP242;TP391.9

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 王克文;朱永勝;董燕;;多機(jī)系統(tǒng)TCSC非線性PID控制器研究[J];鄭州大學(xué)學(xué)報(bào)(工學(xué)版);2007年01期

2 周柳;王英華;劉強(qiáng);孫弘進(jìn);;虛擬現(xiàn)實(shí)技術(shù)在運(yùn)動(dòng)康復(fù)中的應(yīng)用[J];中國(guó)組織工程研究與臨床康復(fù);2007年05期

3 馮利君;鐘煜;;腦卒中偏癱患者早期綜合康復(fù)治療的療效觀察[J];神經(jīng)損傷與功能重建;2006年03期

4 劉青;劉宏章;楊本華;;腦卒中患者肢體運(yùn)動(dòng)功能的系統(tǒng)康復(fù)治療[J];中國(guó)康復(fù);2006年03期

5 丁錦紅,王軍,張欽;平面廣告中圖形與文本加工差異的眼動(dòng)研究[J];心理學(xué)探新;2004年04期

6 閆國(guó)利,田宏杰;眼動(dòng)記錄技術(shù)與方法綜述[J];應(yīng)用心理學(xué);2004年02期

7 閆國(guó)利,白學(xué)軍;廣告心理學(xué)中的眼動(dòng)研究和發(fā)展趨勢(shì)[J];心理科學(xué);2004年02期

8 楊鋼,李寶仁,劉軍;一種新型氣動(dòng)執(zhí)行元件——?dú)鈩?dòng)人工肌肉[J];中國(guó)機(jī)械工程;2003年15期

9 柳忠起,袁修干 ,劉偉 ,王睿;模擬飛機(jī)降落過(guò)程中的眼動(dòng)和認(rèn)知研究(英文)[J];航天醫(yī)學(xué)與醫(yī)學(xué)工程;2002年05期

10 葉騫,王祖溫,包鋼;氣動(dòng)人工肌肉[J];液壓氣動(dòng)與密封;2000年02期

相關(guān)碩士學(xué)位論文 前2條

1 洪熠;基于氣動(dòng)人工肌肉仿人機(jī)械手臂肩關(guān)節(jié)的運(yùn)動(dòng)控制[D];上海交通大學(xué);2009年

2 胡宇川;偏癱上肢復(fù)合運(yùn)動(dòng)康復(fù)訓(xùn)練機(jī)器人的研制[D];清華大學(xué);2004年

，

本文編號(hào)：1567475