本文選題：拇指康復(fù)　切入點(diǎn)：外骨骼機(jī)器人　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：在臨床上涉及到手指肌腱損傷的患者占到手外傷的一半,肌腱在愈合的過程中會(huì)發(fā)生粘連現(xiàn)象,為了減輕肌腱粘連的程度,幫助手指恢復(fù)其運(yùn)動(dòng)功能,需要對患指進(jìn)行康復(fù)訓(xùn)練。拇指是人手實(shí)現(xiàn)抓握運(yùn)動(dòng)功能的關(guān)鍵,失去了拇指,手的功能就損失了近40%。因而本課題旨在設(shè)計(jì)出一款拇指功能康復(fù)的機(jī)器人以代替理療師完成高強(qiáng)度的康復(fù)訓(xùn)練工作。首先,設(shè)計(jì)了拇指康復(fù)機(jī)器人的機(jī)械結(jié)構(gòu)本體。對于拇指指間關(guān)節(jié)(Interphalangeal Joint,簡稱IP)、掌指關(guān)節(jié)(Metacarpal Joint,簡稱MP)的屈曲/伸展采用了背部式的平面導(dǎo)桿機(jī)構(gòu);腕骨關(guān)節(jié)(Carpometacarpal Joint,簡稱CMC)的內(nèi)收/外展采用了側(cè)面式的外骨骼結(jié)構(gòu),通過兩個(gè)可調(diào)定位手柄來使外骨骼關(guān)節(jié)旋轉(zhuǎn)軸線與CMC關(guān)節(jié)內(nèi)收/外展的運(yùn)動(dòng)軸線重合;采用了鮑登線的傳動(dòng)方式,實(shí)現(xiàn)了動(dòng)力的遠(yuǎn)距離傳輸。此外,建立了機(jī)器人的運(yùn)動(dòng)學(xué)和靜力學(xué)模型并進(jìn)行了仿真分析,驗(yàn)證了機(jī)械結(jié)構(gòu)的可行性。其次,研究了拇指康復(fù)機(jī)器人的傳感測量系統(tǒng)。針對外骨骼結(jié)構(gòu)空間狹小的問題,設(shè)計(jì)了一種基于霍爾效應(yīng)的非接觸式角度傳感器來檢測拇指關(guān)節(jié)的轉(zhuǎn)角;提出了一種基于鮑登線的彈性力矩傳感器用于測量外骨骼關(guān)節(jié)驅(qū)動(dòng)力矩的大小;分別搭建了標(biāo)定實(shí)驗(yàn)平臺(tái),對兩種傳感器進(jìn)行了靜態(tài)標(biāo)定。另外為減小鮑登線回差特性引起的誤差,對力矩傳感器的數(shù)學(xué)模型進(jìn)行了修正,提高了力矩測量的準(zhǔn)確性。然后,完成了拇指康復(fù)機(jī)器人控制系統(tǒng)的設(shè)計(jì)。設(shè)計(jì)了機(jī)器人的底層硬件系統(tǒng),包括傳感信號(hào)采集模塊、電機(jī)驅(qū)動(dòng)模塊、藍(lán)牙通信模塊和供電系統(tǒng)。采用了基于Nios II軟核的可編程片上系統(tǒng)來實(shí)現(xiàn)對機(jī)器人運(yùn)動(dòng)的實(shí)時(shí)控制;設(shè)計(jì)并完善了人機(jī)交互軟件,實(shí)現(xiàn)了機(jī)器人康復(fù)訓(xùn)練運(yùn)動(dòng)模式切換和運(yùn)動(dòng)參數(shù)實(shí)時(shí)可調(diào)的功能。最后,對所研制的拇指康復(fù)機(jī)器人進(jìn)行了系統(tǒng)實(shí)驗(yàn)研究。分別對機(jī)器人的機(jī)械結(jié)構(gòu)、傳感器和控制系統(tǒng)進(jìn)行了功能驗(yàn)證。在此基礎(chǔ)之上,進(jìn)行了正常人手的康復(fù)訓(xùn)練實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明所設(shè)計(jì)的機(jī)器人能夠穩(wěn)定可靠地輔助拇指進(jìn)行康復(fù)鍛煉。
[Abstract]:In clinic, the patients with finger tendon injury account for half of hand trauma. Tendon adhesions occur in the process of healing. In order to reduce the degree of tendon adhesion and to help the fingers recover their motor function, The thumb is the key to grip movement by hand, and the thumb is lost. The function of the hand has lost nearly 40%. Therefore, the purpose of this project is to design a robot for the functional rehabilitation of the thumb to replace the physiotherapist to complete the high-intensity rehabilitation training. First of all, The mechanical structure of the thumb rehabilitation robot is designed. For the interphalangeal joint (IPN) of the thumb interphalangeal joint and metacarpal joint for the metacarpal joint of the metacarpophalangeal joint (MP), the back type planar guide rod mechanism is adopted. The adduction / outreaching of Carpometacarpal Joint is a lateral exoskeleton structure. The rotation axis of the exoskeleton joint is overlapped with the axis of the adduction / outreaching of the CMC joint through two adjustable positioning handles. In addition, the kinematics and statics models of the robot are established and the simulation analysis is carried out to verify the feasibility of the mechanical structure. The sensor measurement system of thumb rehabilitation robot is studied. Aiming at the narrow space of exoskeleton, a non-contact angle sensor based on Hall effect is designed to detect the angle of thumb joint. An elastic torque sensor based on Bowden line is proposed to measure the driving moment of exoskeleton joint. In order to reduce the error caused by the return error of Bowden line, the mathematical model of torque sensor is modified to improve the accuracy of torque measurement. The control system of the thumb rehabilitation robot is designed, and the hardware system of the robot is designed, including the sensor signal acquisition module, the motor driving module. Bluetooth communication module and power supply system. The programmable on-chip system based on Nios II soft core is used to realize the real-time control of robot motion, and the human-computer interaction software is designed and perfected. The function of the robot's movement mode switching and the real-time adjustable motion parameters are realized. Finally, a systematic experimental study is carried out on the developed thumb rehabilitation robot, and the mechanical structure of the robot is studied, respectively. The function of the sensor and the control system is verified. On the basis of this, the rehabilitation training experiment of the normal hand is carried out. The experimental results show that the designed robot can assist the thumb in the rehabilitation exercise stably and reliably.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 宗光華;畢樹生;王巍;李大寨;;機(jī)器人技術(shù)開拓未來——2005年國際機(jī)器人展(日本)巡禮[J];機(jī)器人技術(shù)與應(yīng)用;2006年01期

2 陳林;奚如如;王興松;;套索驅(qū)動(dòng)細(xì)長機(jī)器人的初步設(shè)計(jì)與試驗(yàn)[J];機(jī)電工程;2011年03期

3 謝芝馨;;蘇聯(lián)機(jī)器人技術(shù)述評(píng)[J];機(jī)械與電子;1989年04期

4 羅飛，余達(dá)太;主動(dòng)式控制──機(jī)器人抑振控制的有效方式[J];機(jī)器人;1995年04期

5 盧桂章;當(dāng)前高技術(shù)發(fā)展的前沿——機(jī)器人技術(shù)[J];天津科技;1995年01期

6 蘇陸;日本機(jī)器人技術(shù)與產(chǎn)品[J];全球科技經(jīng)濟(jì)w，

本文編號(hào)：1568282